[comphappy]

One key thing that does not show up is the false case for the case statement on the left. You will notice a delay when you rotate, this is proportional to the amount of turn requested, there is a constant that changes the amplification of it. This is to simulate the time that it takes a robot to turn in place.

My hope is next week to add some NXT to this and see how it works out, who knows this might end up working as part of a nice OI robot feedback.