[Loubear]

I take a "if it's not broken, don't fix it" mentality towards all of this. If the existing camera code works fine, I have no qualms just using the default code. My time can be better spent doing something more productive and not already done, like implementing a kalman filter to augment dead reckoning, or creating an editable config interface. If you want a robot that just drives and does nothing else; then you could always use the default code. Other than that, there are PLENTY of neat things to be coding.