[Uberbots]

one of our earlier autonomous modes worked like this:

it had two vectors: the forward vector and the angular vector
these vectors constantly return to 0 using a linear ramping technique
when a forward signal is received from the IR board, it ramps the speed up 20%. further presses of the button will yield more speed (linearly, 20 40 60 80 100)
when a turn left/right signal is received, it ramps up the turning vectors inverse-exponentially (to improve turning)
there is also a stop command which would reverse the robot for a couple ticks

we ended up ditching it because it was too borderline within the rules, the IR signal dropped out at the other end, and we made a better autonomous mode after that.

I dunno about the rules though... a single button press always does the same "add 20%" thing, and they arent held down in order to do it. any thoughts?