I thought the new Robot Controller was coming out <counts on fingers> for the 2009 game? Kevin is certainly working on cleaning the code for this season anyway. While floating point math does make it easier (hey, I remember when the 8086 chip improved AutoCAD!), even trig can be done the old fashioned way. Not that I want to go back...
Custom switches? We do it thru the port 1 joystick buttons. While we couldn't catch which way the rack went we could change the autonomous after we put the robot on the field. We did have a 4-switch box on the robot the year before, but for some reason binary numbers (even "up down down up") confused the drivers

. We did test a custom box into port 4 but using the joystick was easier.
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