[JBotAlan]

I hate to sorta threadjack, but I'm also having problems with my PID code--I just can't get the thing to stop oscillating. I'll re-read over that whitepaper now that I have oodles of time, but I adjusted the terms according to the directions and got nowhere during the season. It works with minor disturbances, but seems to drift when it is sitting still, then detects the drift and reverses, into bigger and bigger oscillations.

I'll play with it probably next week, but right now I'm going to work on the camera code.

JBot