We didn't make much progress with the field today. We made a few changes to the placement of the wheels and we started seeing a lot of change in how our timers triggered. We figure that it is too late to make major modifications to our state machine. We are going to try to properly align our wheels again to fix for the veering. We are going to test after the hot glue on the wheels dry and after that we plan on calling it a night and coming back in in the morning.