diff --git a/README.md b/README.md
index 3b745aa..af52cf7 100644
--- a/README.md
+++ b/README.md
@@ -44,9 +44,218 @@
 ```
   * Build the code for a specific robot:
 ```console
-bazel build --cpu=roborio --compilation_mode=opt //y2015/...
+bazel build --cpu=roborio --compilation_mode=opt //y2018/...
 ```
   * Download code to a robot:
 ```console
-bazel run --cpu=roborio --compilation_mode=opt //y2015:download roboRIO-971.local
+# First add a host entry in your ~/.ssh/known_hosts file for the roboRIO.
+# Do this by ssh'ing into the machine.  If you problems doing this, see
+# the notes below for more information on how to connect to the roboRIO.
+ssh admin@roboRIO-971-frc.local
+# If you see an error like:
+#    subprocess.CalledProcessError: Command '['rsync' ...
+#    ERROR: Non-zero return code '1' from command: Process exited with status 1
+# The above "ssh admin@roboRIO-971-frc.local" step has not been sucessfully completed.
+# If the roboRIO has been configued to use a static IP address like 10.9.71.2,
+# set the laptop to have an IP address on the 10.9.71.x subnet with a netmask
+# of 255.0.0.0.  The ".x" is different than the .2 for the roboRIO or any other
+# device on the network.  The driver station uses .5 or .6 so avoid those.
+# The radio uses .1 or .50 so avoid those too.  If you are at the school,
+# disconnect from the student wireless network or try setting your netmask to
+# 255.255.255.0 if you want to be on both networks.  The student wireless
+# network is on a 10.?.?.? subnet which can cause problems with connecting to
+# the robot.
+bazel run --cpu=roborio --compilation_mode=opt //y2018:download -- admin@roboRIO-971-frc.local
+# If this does not work, try
+bazel run --cpu=roborio --compilation_mode=opt //y2018:download -- admin@10.9.71.2
+# If this does not work, it probably means that the robot and laptop are on
+# different subnets.  They need to be on the same subnet for the laptop to
+# connect to the robot.  Connecting can be confirmed by using ping.
+ping roboRIO-971-frc.local
+# or
+ping 10.9.71.2
+# If this does not work, perhaps the roboRIO has not been configured to have
+# a static IP address.  Use a USB cable to connect from a Windows laptop to
+# the roboRIO and use Internet Explorer (IE) to configure the roboRIO
+# to have a static IP address of 10.9.71.2.  Inside IE, browse to
+# http://roborio-971-frc.local or http://172.22.11.2.  Click on the "Ethernet"
+# icon on the left, select "Static" for the "Configure IPv4 Address" option.
+# Set the "IPv4 Address" to 10.9.71.2. Set the "Subnet Mask" to "255.0.0.0".
+# Finally click on "Save" at the bottom of the screen.  If you have trouble
+# using an Ethernet cable, try using a USB cable.  USB cables are much
+# more reliable for connecting than using a Ethernet cabe.  USB cables work
+# for connecting to the robot on Windows and Linux computers.
+# Another option is to configure the laptop to have a link-local connection
+# by going using the "Network Settings" GUI.  The laptop will then be on the
+# same subnet in the address range of 169.254.0.0 to 169.254.255.255.
+# James thinks this will only work over Ethernet (i.e., not USB; he is not
+# sure what will happen if you attempt this over USB), and if the robot
+# does *not* have a static IP address set and there is no DHCP server
+# assigning an IP address to the roboRIO.  James says to also note that this
+# implies that the roboRIO will also have a 169.254.*.* IP addresss, and
+# that the only simple way to figure it out is to use mDNS.
+#
 ```
+  * To configure a freshly imaged roboRIO:
+```console
+# Freshly imaged roboRIOs need to be configured to run the 971 code
+# at startup.  This is done by using the setup_roborio.sh script.
+setup_roborio.sh roboRIO-971-frc.local
+```
+
+# ============================ Notes for running under Stretch ===================
+#
+# Parker and Austin helped me compile the code under the Stretch version of Debian.
+# Below are my notes on what was done differently.  I started with a cleanly
+# installed Debian Stretch OS.  Michael Schuh, May 13, 2018.
+#
+
+# Install different packages than those listed above:
+# Get some useful packages including git and subversion.
+   apt-get update
+   apt-get install git subversion ruby python vim-gtk3 subversion-tools
+   apt-get install vim-doc git-doc git-gui git-svn exim4-doc-html ruby
+   apt-get install python python-scipy python-matplotlib libpython-dev
+   apt-get install bazel clang-format-3.8 clang-3.8  openjdk-8-jdk
+   apt-get install gfortran libblas-dev liblapack-dev avahi-daemon
+# fix a key problem with llvm.
+   wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add -
+   apt-get update
+# Install apt-file so that packages can be searched
+   apt-get install apt-file
+   apt-file update
+# Look for the package that contains the ptree.hpp file.  This is needed to
+#   compile the 2018 code.
+   apt-file search 'boost/property_tree/ptree.hpp'
+   apt-get install libboost1.62-dev
+# Install sysstat so that you can tell how many resources are being used during
+#   the compile.
+   apt-get install sysstat
+# iostat is used to observe how hard the disk is being worked and other
+#   performance metrics.
+   iostat -dx 1
+# gitg is a graphical user interface for git.  I find it useful for
+# understanding the revision history of the repository and viewing
+# log messages and changes.
+   apt-get install gitg
+
+# Make the following changes to the configuration files.
+# The one change to the graph.cc file is to update it to work with current
+# complilers.  The other changes are required to work with a newer version
+# of clang.
+#
+# The sed commands can be run by copying and pasting them to the command line.
+# The sed commands will change the file contents and replace the file with the
+# updated changes.
+
+#
+# aos/build/queues/compiler.rb
+#
+sed -i -e 's/clang-format-3.5/clang-format-3.8/' aos/build/queues/compiler.rb
+
+diff --git a/aos/build/queues/compiler.rb b/aos/build/queues/compiler.rb
+index 51646702..6a273ae9 100644
+--- a/aos/build/queues/compiler.rb
++++ b/aos/build/queues/compiler.rb
+@@ -77,7 +77,7 @@ def parse_args(globals,args)
+ end
+ def format_pipeline(output)
+   read_in, write_in = IO.pipe()
+-  child = Process.spawn('/usr/bin/clang-format-3.5 --style=google',
++  child = Process.spawn('/usr/bin/clang-format-3.8 --style=google',
+                         {:in=>read_in, write_in=>:close,
+                          :out=>output.fileno})
+   read_in.close
+
+#
+# tools/cpp/CROSSTOOL
+#
+sed -e 's?clang/3.6.2?clang/3.8.1?' \
+    -e 's/clang-3.6/clang-3.8/' \
+    -e 's/clang_3.6/clang_3.8/' \
+    -e 's/llvm-3.6/llvm-3.8/' \
+    -e 's?clang/3.6?clang/3.8?' \
+    -i tools/cpp/CROSSTOOL
+
+diff --git a/tools/cpp/CROSSTOOL b/tools/cpp/CROSSTOOL
+index d4e7fbb1..caa2f633 100644
+--- a/tools/cpp/CROSSTOOL
++++ b/tools/cpp/CROSSTOOL
+@@ -83,7 +83,7 @@ toolchain {
+   tool_path { name: "compat-ld" path: "/usr/bin/ld" }
+   tool_path { name: "cpp" path: "/usr/bin/cpp" }
+   tool_path { name: "dwp" path: "/usr/bin/dwp" }
+-  tool_path { name: "gcc" path: "/usr/bin/clang-3.6" }
++  tool_path { name: "gcc" path: "/usr/bin/clang-3.8" }
+   tool_path { name: "gcov" path: "/usr/bin/gcov" }
+   # C(++) compiles invoke the compiler (as that is the one knowing where
+   # to find libraries), but we provide LD so other rules can invoke the linker.
+@@ -104,10 +104,10 @@ toolchain {
+   cxx_builtin_include_directory: '/usr/include/x86_64-linux-gnu/c++/4.9'
+   cxx_builtin_include_directory: '/usr/include/c++/4.9/backward'
+   cxx_builtin_include_directory: '/usr/local/include'
+-  cxx_builtin_include_directory: '/usr/lib/llvm-3.6/lib/clang/3.6.2/include'
++  cxx_builtin_include_directory: '/usr/lib/llvm-3.8/lib/clang/3.8.1/include'
+   cxx_builtin_include_directory: '/usr/include/x86_64-linux-gnu'
+   cxx_builtin_include_directory: '/usr/include'
+-  cxx_builtin_include_directory: '/usr/lib/clang/3.6.2/include'
++  cxx_builtin_include_directory: '/usr/lib/clang/3.8.1/include'
+
+   linker_flag: "-lstdc++"
+   linker_flag: "-B/usr/bin/"
+@@ -535,7 +535,7 @@ toolchain {
+ }
+
+ toolchain {
+-  abi_version: "clang_3.6"
++  abi_version: "clang_3.8"
+   abi_libc_version: "glibc_2.19"
+   builtin_sysroot: ""
+   compiler: "clang"
+@@ -578,7 +578,7 @@ toolchain {
+
+   compiler_flag: "-nostdinc"
+   compiler_flag: "-isystem"
+-  compiler_flag: "/usr/lib/clang/3.6/include"
++  compiler_flag: "/usr/lib/clang/3.8/include"
+   compiler_flag: "-isystem"
+   compiler_flag: "external/linaro_linux_gcc_4_9_repo/lib/gcc/arm-linux-gnueabihf/4.9.3/include"
+   compiler_flag: "-isystem"
+@@ -604,7 +604,7 @@ toolchain {
+   cxx_builtin_include_directory: "%package(@linaro_linux_gcc_4_9_repo//lib/gcc/arm-linux-gnueabihf/4.9.3/include)%"
+   cxx_builtin_include_directory: "%package(@linaro_linux_gcc_4_9_repo//lib/gcc/arm-linux-gnueabihf/4.9.3/include-fixed)%"
+   cxx_builtin_include_directory: "%package(@linaro_linux_gcc_4_9_repo//arm-linux-gnueabihf/include)%/c++/4.9.3"
+-  cxx_builtin_include_directory: '/usr/lib/clang/3.6/include'
++  cxx_builtin_include_directory: '/usr/lib/clang/3.8/include'
+
+   linker_flag: "-target"
+   linker_flag: "armv7a-arm-linux-gnueabif"
+
+#
+# To compile the code for the robot, libisl.so.10 is needed.  It is not
+# available on stretch package servers so download the amd64 jessie package
+# from https://packages.debian.org/jessie/libisl10
+# and install it with dpkg.
+# This installs
+#   /usr/lib/x86_64-linux-gnu/libisl.so.10
+#   /usr/lib/x86_64-linux-gnu/libisl.so.10.2.2
+#   /usr/share/doc/libisl10/changelog.Debian.gz
+#   /usr/share/doc/libisl10/changelog.gz
+#   /usr/share/doc/libisl10/copyright
+#
+wget http://ftp.us.debian.org/debian/pool/main/i/isl/libisl10_0.12.2-2_amd64.deb
+dpkg -i libisl10_0.12.2-2_amd64.deb
+
+# After doing this, this compile command should work.
+time bazel build --cpu=roborio --compilation_mode=opt //y2018:download
+# On Michael's Lenovo ThinkPad X270 with an
+#    Intel(R) Core(TM) i7-6500U CPU @ 2.50GHz
+# compiling the 2018 robot code takes
+#   INFO: Elapsed time: 499.177s, Critical Path: 63.33s
+#   INFO: Build completed successfully, 4901 total actions
+#
+#   real	8m19.234s
+#   user	0m0.277s
+#   sys	0m0.518s
+
+