[KenWittlief]

this is something I was thinking about yesterday. We are done for the year except for expo matches, but I still want to try it on our bot.

in control systems there is a concept called 'jogging' - its when you normally move something fairly quickly but sometimes you want to bump it just slightly to one side or the other - and some control systems have a JOG button that does this

on our bots the Victor speed controls reduce the speed of the motors by chopping or pulseing the 12VDC to the motor on and off - when you want the bot to move slowly it puts out a short pulse of 12V, then nothing for a few mS, then a pulse...

it works well mostof the time - but when you want to nudge the bot just a slight bit forward, or to the left, then sometimes its not enough or its too much

you could implement a jog function in your code by counting SW loops - for example, then the jog button is pushed, turn both PWM drive motors on full for one SW loop, then turn them off - or turn them on full for one SW loop, then turn them off for 37 loops, full on for one, off for 37...

this would be like taking a hammer and tapping your bot once per second - when you just need to nudge it over to line up with a 2X ball, or the ball corral, or to get exactly under the bar to place your hook

if being full on for one SW loop jogs the bot too far, you could try half power, or 1/4 power

I think this will work really well and cant wait to try it on our bot - if anyone else trys it let us know how it works for you.