We had ours working great, but mechanical issues made it difficult to test.
It took all the practice matches and the first day of competition to get it honed in, however. We had "shooter creep" (the PD loop compensating for more balls being fed through by increasing shooter speed).
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"The harder the conflict, the more glorious the triumph. What we obtain too cheaply, we esteem too lightly; it is dearness only that gives everything its value."
-- Thomas Paine
If it's falling apart it's a mechanical problem. If it's spewing smoke it's a electrical problem.
If it's rampaging around destroying things it's a programming problem.
"All technology is run on 'Magic Smoke' contained within the device. As everyone knows, whenever the magic smoke is released, the device ceases to function."
-- Anonymous
I currently speak: English, some German, Verilog, x86 and 8051 Assembler, C, C++, VB, VB.NET, ASP, PHP, HTML, UNIX and SQL 
I bet if anyone took a look at the 118's Bill of Materials the only thing that would be on there is hard work and that's priceless. - rcmolloy [more] 
, set it aside.
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