The antishaker is finally working again, using the new calibration. It has been improved to work with subpixel precision. Also, for a long time it was known to compensate too little compared to the found ball position. This has been fixed, it seems, by multiplying the found shakiness by about 1.1.
Measurements have been made, showing that the found ball and man positions were slightly off in every second picture. This is due to the coarseness of the u and v channels. Fixed by adding or subtracting a value for every second scan picture to the found position.
A rather simple DefenseAttack mode has been implemented. It tries to move the man around the ball and shoot. Nothing more, nothing less. It works ok in the simulator but could be a lot smarter.