Speed opt.

Hey, since you are probably diving deep into optimizing a robot, if during the process you happen to benchmark the tweaks you are doing, can you post your results here? I find it beautiful those bots which are strong and fast like Shadow and Ascendant, and although I really feel like doing this someday, I happen to postpone it because Im not sure it is worth it in terms of sacrificing code legibility and effort for a very little speed increase.