What's your favorite programming/control system magic this year?

[billylo]

Effective programming/control system techniques almost work like magic. Unlikely mechanical designs, they are frequently hidden from regular observers.

Which cool techniques have you seen or adopted this year that are creative and worth highlighting for your peers?

I saw a few cool ones:

• Pulsing solenoid control to shoot with different power (842 and others)
• CheesyVision - use of driver station's camera during auton (hot goal)
• 1114/973's Kinect based - hybrid like control during auton (e.g. drive/blocker control)
• I forgot which team... an awesome motion-detection system (Axis-camera) to follow the opposing robots' movement for shot-blocking (saw them on the CMP practice area near Netwon)

What's your favorite?