[Chriszuma]

I'm really excited about our new system. The other day I finally got a PID loop coded up that uses the gyroscope to essentially lock us into our heading. It's really beautiful: it ramps up as you try to push it, so nobody will be able to push us off course while we're shooting. (This was one of the major factors in our non-victoriousness) The driver will simply push one of the joystick buttons to activate the self-centering. My next project is to integrate the camera into it, but we've been doing fine without it, since our driver has really good aim (unless being pushed, thus the new system).