Hi grimber, well the initial idea was to make an optimized turning code that when you press the arrow key, you turn in 90 degree increments, so if the robot was facing 0 pan, and I hit hit the left arrow key, it would turn its pan based on speed from 0-90, as well as for the other directions too.

The thing I found difficult was forcing the bot to turn the shortest directions to get to the target pan desired. My first attempts for a target of 0 pan, and the bots pan was at 270, the bot would go from 270, incrementing down to 0, this was the long route and didn't look right at all.

The seperate loops for the individual turning directions was the best I could come up with.

Also, the modes do keep the turning and movement seperate, seems more robotish to me if you seperate them.

Any suggestions to optimize the code grimber would be appreciated.

-raiden