[gwytheyrn]

Mmmm...Here's the way I was showing people to do auto independent at Buckeye. It's a little more useful for those who intend on running the same vi over and over (we do-- We turret and use the turreting info to try to turn), but it's also useful for those who wish just to go by time, using the case begin..end syntax.
Vision tracking gets a little flaky at short distance because things move out of the field of vision too quickly. We run a P controller for turreting (apparently I and D kill it), and it really can't be set higher or it oscillates.