[CurlyFries]

By resting velocity I mean that when I use the getEncVel() function, if I increase one of the pid(f) values the velocity that the function returns is higher than if I hadn't increased it. In other words I would get more than 100 rpm. As far as I know they agree on the forward direction, but I'll double check tomorrow. I have been reading the link you sent me a lot over this past week, but I haven't found anything pertaining to this problem.