Does anybody know the best algorithms/methodology for getting a very high and consistent programming skills score? For example, I know I could use PID, try again to learn Okapilib (I have tried, but found the documentation very confusing), or attempt odometry (also quite complicated). The reason I ask this question is because I want to have a very good programming base for next year. I would like to develop a system that is both simple and versatile, and is accurate enough for both match autos and programming skills. Please give your suggestions or what worked for you, anything helps.