[kitscuzz]

I can't really vote on any of those. We code as soon as the robot is built enough to know what to code, but so often the development turns out to be based around a figure-it-out-as-we-go mentality, that we really don't know what we're getting until it's on there.

And then it's code-binges all the way to shipping time!

Part of what makes it so difficult is the fact that we don't know something works until we code it, and we can't code it until it's built. And so it gets built badly, we code it to go, break it, then build something else.

But we figure out how all the sensors work, and get general frameworks setup in the early build season, then we slowly stick in what we need as we see we need it.