I am a Java developer that has alot of interest in robotics. Although most of my life I have spent building boring business web based applications, I dream of the day that I can do this stuff for good. Your project rocks! I wish I had more time in the day to learn and help. I am working on a robot. If and when I get it going, I will post some pictures. I found your site because the minipsi is very similar to what I wanted to create. {snips-by-user:drujensen} 2006-03-03 00:54:02.164 2006-03-02 07:50:55.04