Thanks for the response Kevin. Sounds like my fear (and interpretation of the code) was mostly right, but as I was hoping, also completely unjustified
This looks like a great set of code and I'm very excited about getting a chance to play with it soon -- things have come a long ways from where they were in 2002... I think we were screwing around with PBASIC back then.
I'm missing most of the competition, but I'll be hanging around my old team for their last week and a half or so. Plenty of time for last-minute debugging of the software.
Kind of funny... doesn't seem to matter what robotics project I'm helping out with: DARPA Grand Challenge, or FIRST robotics... Kevin Watson manages to be involved and giving advice