[Kevin Sevcik]

I don't have code for a master-slave system yet. I do have C++ code for a PIDController derivative that will let you smoothly ramp the setpoint from A to B at a given rate. As long as you have the PID loops tuned well and you keep the rate below the max speed for your slower side, things should work and stay level.

I should've asked earlier, but what language are you guys using? If it's C++, I can cleanup and better document my code tonight and post it tomorrow. If it's Java, I'll have to port things, which will take a day or two, and won't be tested, obviously. If it's Labview.... I'll have to think about how to approach the problem in Labview.