[PhilBot]

Hi

The speed limiting isn't being done in the LabVIEW VI's. On the NXT side of things, the only difference between "Constant Speed", and "Run to Position" is that Run To Position sets a target encoder count, and turns on a bit to say "Run to Position". Checking to see if the move is over is an optional VI that just checks a status bit.

The fact that the PID may need some speed overhead to maintain syncronization or something, would seem to be negated by 2 Facts:

1) "Constant Speed" can be run independantly on either or both motors up to 100% capacity,
and
2) Different speeds and endpoints can be selected for each motor when you do a "Run to position". It's legal to set moves that have NO ability to end at the same time.

Anyway, when I ran the finals tests, I was only using one motor, so there was no need to synch.

After doing a lot of integer based math code, my money is on a bug where the controller is trying to calculate a speed ramp at the start and end of the move, and there is an integer divide/rounding error which is artificaially clipping the maximum target speed.

I'd just like it fixed. My replacement LabVIEW code that lets me run to position at 100% speed is not as good when it comes to stoppoing at the correct endpoint.

Phil.