[Vashts6583]

We have an accerlerating, exponentiating drive code, which means, if you slam the joysticks from center to full forward, the robot, accelerates at an increasing speed.

For controls, we have our "conditional limit" system. operator moves arm, then holds a button, which corresponds to a spider, then stops at that limit and can't move. It can go past all the other limits (except top and bottom of course), but its very convenient. Also, our limit switches were velcro-ed on, to allow for mobility and last-minute-changability.

What else did I do this year? OH YEAH! Those LEDs on the OI....I made them all have a purpose. switch 1/2 - drive forward/back for each side. switch 3/4 - arm up/down and max limit/min limit. relay 1->3 - 3 levels of spiders. Fun times.