We ran this in a little competition we held in robotics class…Never once used the stacker, juss mostly swept the field and posistioned bins using our wings. hehe…the rest of the class didn’t do anything like this, we waaay over did it :-P. We ended up loosing to a simpler robot mainly because I never got a chance to stack in match. So far, I’ve managed to make a stack of 4 before the stack comes falling down from the movement of the robot. If I slow down the motors, I think I can stack more…