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Here's my shot at this challenge... I really didn't figure on how far the tail-end swings around during turns, but the basic shape is there! I am wicked happy with the encoders working and all the direction and distance commands were "pre-stored" on the EEPROM. Well, actually I just wrote a program that had all the directions and distances written out and I used it to store info to the EEPROM. In actuallity, I could have just entered that info directly into the drive code but it was cool ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/write-out-lmr-sorta