Robotics - Autonomous Issues

With the robot's physical properties complete, all we have left to do before the competition on Saturday is to finish the autonomous routine. Despite my existing code being pretty good, what it actually did was pretty miserable. We spent an entire hour trying to get the first stage (drive up to the infrared beacon and dump the block into the container) working without much success. There is a strange bug in the code or intrinsics that causes unpredictable things to happen when both motors are moving backwards. It looks like tomorrow will be a late night.