I made the robot fight gravity
actually it was a code w/ the accelerometer that would try and push back, but with no testing it made driving impossible because I got the direction that it corrects wrong, so it fights itself, oops
In the way of useful things I did this year, I got our omniwheel bot to drive mostly straight(still have to tune that) using a gyro chip that hopefully will self calibrate. The drive code also very nicely allows us to drive it FPS style with one joystick for translation and the x axis on the other for spin.