In Madison women have the right to breastfeed their babies in public:
“No person shall interfere with a mother breastfeeding her child or expressing breastmilk within any public accommodation where the mother would otherwise be authorized to be.” (Dane County (34.015) and Madison City (23.37) Ordinances)
Some practical tips and the right attitude makes it easier, though. Check this out:
Madison Breastfeeding Help 
Nice. I like the camisole bras. And I have been really impressed with how comfortably some of your blog-readers breast feed in public (or even barely-public) places. Their comfort was comforting, and refreshing.