[slavik262]

We are using sensors. We have 4 encoders hooked up to the drive train (we're using an omni system). It's not the lock-on that's the problem. I could tune that fairly easily. The problem is the actual return rate of the function I'm using to get target data. I've put in some prints for debugging and the actual function only returns at > 0.5 seconds. The actual tracking works perfectly; the problem is that it's too slow.

I'm planning on trying an approach closer to what is used in the two color demo. We'll see if that gives us any luck.