Code, robots and stuff

The code in the video has since been improved alot. It doesn't drive off the edge(very often) or molest my tripod or rug anymore
It should be noted that this is on my not very grippy and a bit dirty hardwood floor. After ~5 hours of adjusting values back and forth it can stay in the circle without big problems(on my slippery floor). I suspect it won't be as much of a problem on the 5mm steel dohyo at Robot-SM.