Programming tricks (and former trade secrets)

[buddy.smith]

Hm... We used mecanum wheels. We coded the usual translation routines, then used a third axis on the joystick (twist) for rotation.

We didn't design it this way, but what emerged was that driving in circular arcs was VERY easy, which the drivers love because of the design of the rack.

Other features...the arm's motion is limited by a pot, but if the pot fails (becomes disconnected), the arm will still be usable. I wish I could say we thought of this BEFORE the pot failed (wiring problem)....

I'd love to restructure the First code...I really don't like their coding style, but 6 weeks isn't enough time for that, so making the robot work was priority #1

--buddy