[PhilBot]

Thanks for the replies.

I did also contact AndyMark, but I suspect they may say "Oh Well". I was hoping they have worked with Hitechnic to figure out a work around.

I'd like to buy 20 of these motors for my two teams, but if the encoders don't help... it's no bargain.

Doing our own PID is possible, but since one of the most unreliable parts of the FTC system is the NXT <-> Motor controller interface-comms (an NXT problem) adding hundreds of more commands back and forwards seems like asking for trouble.

We do some of this for "Run to position" but I would really like to be able to use the constant speed control mode without having to add a lot of CPU cycles.

Still hoping for some inside help.... I've done a lot of work with the internal Motor Controller registers. These are "gain" values in there, but the docs say to leave them alone...

Phil.