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I'm currently playing around with a time-since-direction-change segmentation in the gun, but it's not showing much improvement. I need to examine the data manually to see if there are any bugs. So the next things I'm going to do is to write some new debugging code that prints more information to screen, as well as write debug data to disk, so I can do a thorough analysis. I was also debating writing a painting framework for debugging, that makes it easy to turn debug options on and off and move informational printouts around on the screen. This will take some time to complete. In the meantime, I may set up 10.7.1 to run in the gun and drive challenges. I also want to explore updating RoboResearch to run battles in a different manner -- something I think JDev or someone has messed with before -- to try and reduce the startup times for battles. Currently, when I run RoboResearch, about 9/10 of the time it takes is waiting for the battles to start, with only about 1/10 of the time going to actually running the battles. Which is rediculous.