[shawger]

I did most of my work gradually. There was no 5 hour period where I just started programming with a finished robot. I could do quite a bit of my programming without the robot actually there, and I just used the robot to test stuff out and to tune my closed feedback loop stuff. As each component of the robot was built, I'd write some code and test it out. That way there was no massive amount of work to be done at the end.