One of the main tasks of this week was to have a fully functioning and programmed mecanum wheel drive. In order to do this our programmers bench marked source codes from FIRST libraries and then made their own program using control loops. The mechanism took three days of tuning to become up to our quality standards. At the same time, the mechanical group has been prototyping the power cell launcher, changing variables such as arc length, material, angle, and motor speed. As of Saturday our tests have provided enough results to start CADing and building a true p-bot mechanism.