[JewishDan18]

Thanks. That thread is exactly what I was looking for. The last poster had some of the same concerns as me (lag when setting speed and the oscillating around the set point).

I'm hoping that we can get the CAN issues worked out, we can use the built in functionality. If not, I'll tinker with acceleration control, and if that fails, I think I'll do something similar to what Alan did, and set a distance target ahead of the robot proportional to the speed I want to go.

Thanks again!