[mwtidd]

If you are both using line trackers, I'm guessing you're never seeing atcross
so you never leave the line tracker code. It has something to do with the line tracking code. Basically once you are at target, you should never enter the line track loop again. It sounds like you are either reentering it or never leaving it.

If you have a camera you could use it to simple confirm your at target, rather than the cross. This will let you set the distance to target based on your arm or lift. rather than the fixed point the field gives you.