Here's a video of our robot running in non-lane-change race mode for autonomous:
http://www.youtube.com/v/-q4NTcanElE ...amazing the difference a spiffy new gyro and a few hours to work with the robot can do.
While the robot just crosses 6 lines in autonomous in this video, our competition robot is considerably faster and should be able to make seven lines on a good battery.
Unfortunately, we have no video of the robot lane-changing, but if you have any comments/questions about it let me know and I'll see what I can do.
-q
p.s. A little later in the evening some people got to pushing the robot around:
http://www.youtube.com/v/7IszxvWliPA The improved collision recovery software still kept the robot on track. No video of recovery during arc interpolation, but yesterday we also tested that the robot can continue after being completely blocked in a turn. GO TEAMS, and see you all in Atlanta!!!