Now I'm working with Norcross High School's FIRST robotics team. We have about 3 weeks left and the kids are doing well - they have a drivable base and a prototype for completing the 'shooting' part of the task that works. I'm helping out with the software for the most part. If you want to check out some great control code for a robot, check out the software that Kevin Watson wrote for the First competition. Of course, you'll need to purchase the Innovations First Robot FRC controller and operator interface to use it as-is.