Things to come: finally have what I believe to be the appropriate parts for a voltage booster, but need to take the time to wire it up. Trying to boost 20 volts to 36 with a 400 mA or more draw, using an LM2577. It'll hopefully give a little speed to Robosnail in competitions. Also need to put in pull-ups for the LM339 for Sarge that I forgot. (oops). And wire up the interface for the camera sonar board sometime soon. And learn more IntelliCAD. And try schematic of more than one chip on Eagle.
Observed: Those cheap ($25) new Devantech sonars look pretty cool, but about a third the range of a Polaroid or hacked. IR is iffy in the flourescent rooms, even with the modulating detectors, might try some exposed film or remote covers on next DPRG trip. Big PID discussion coming to an end on SRS list. Position control, yes, using locked antiphase PWM. Got new toys, Pittman GM9234C212-R3, but need to make sure what 500 cpr encoder is on them as well as possible over torqueing of gears.
Man, long entry, but hopefully a start.