[Coach Doug]

My team has encountered a problem with the encoders we just added. We have encoders for our drivetrain and have no issues with our autonomous programs using 2 encoders for our four motor drivetrain ( 6wd, 2 motors per side ).

We added two motors ( each have seperate encoder ) to get the batons out of the dispenser but have not been able to program/control these properly. We believe we coded it properly and everything appears correct in labview but when we run a teleop program that has a joystick controlled arm ( hit button, rotate 400 counts ) - that program will cause the NXT to freeze after 15 secs - consistently. The program will run and if I hit the button within 15 seconds- it rotates correctly ( does seem to hunt to find final position though ) - but will always lock up after 15 seconds ( nxt freeze, loose com with Samantha field system ).

But, If we re-write the subvi code such that it controls the arm based upon time - no issues.

I am at a loss - looking for advice /docs to read. I don't have the code with me to post at this moment. Using time as the control would work - but not as elegant/robust of a solution.