anidev/612-2013 — pull request #90 by swarage (2013-03-13 18:37:14+00:00)
Title: Fixed Autonomous again (WhatIsThisIDon'tEven)

(WhatIsThisIDon'tEven)

I don't understand at all what I just coded. Give me a quick run through (again XC) and I'll fix it if it's broken.