CDR(Compact Disc Robot) UPDATE - Video

Hello LMRtians!  I finally got my bootloader code working.  I got my package in the mail from Sparkfun this morning.  I added a ball caster to the rear for better motion.  I used the bootloader to change the pins for the motors and speaker ( so I could use the bootloader ).  I adjusted the motor times for the new CD base.  I'm really happy with the turn times now.  I'm getting pretty close to 90 degree turns and 180 degree uturns.

I still need to add a reset button to the board.  I'm pretty unsatisfied with the delay in reading the ultrasound from the eyes.  CDR gets too close to blocks all too often.  I'm thinking of rewriting the whole thing and moving to the Sharp IR eyes.  

Nevertheless, I hope the video links OK.  I've been promising to do one for a while now.

Silly thing is, I'm more happy about the success of the bootloader than anything.  I reprogrammed the bot in circuit faster than my regular programmer!  in 733+, I'd guess I'd say \/\/()()+!