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Well, I've got this code in a pretty workable state (I think) but I haven't done any unit tests on it like you have. Depending on how portable your new work is, I very well might consider jumping ship!

The pluggable orbit distance controller (which I also use to drive the bot itself) and the pluggable wave surf prediction ender (should be dirt simple for me to implement surfing until the first wave hits me, even if that's a different wave for CW and CCW) are both things I really like, and would like to offer though.