Well, this should be the last of the 20-hour apart releases, but it all depends on how many errors you guys manage to find.
Anyway, it now works with all the code I have, both real robot code and test programs I've created. I fixed the offset error gwross pointed out, as well as a few other bugs. See the changelog for full details.
In any event, it's available, as always, at:
http://FIRSTprograms.tripod.com/Programs.htm