[KenWittlief]

one of the hardest things to do with most FIRST bots is to get them to make small moves, to turn slightly, or to nudge ahead just an inch or so

a simple way to implement this is know as 'jogging'. You have a separate pushbutton on the driver control panel, and when you push it, it sends out one high level pulse to the motor: puts out 254 for one SW loop, then goes back to 128.

The effect is like tapping the robot with a hammer to get it to move 'just a little'. If you want, you can have the jog function auto-repeat, say at one second intervals

this is especially usefull for turning bots with tank steering - you can have a JOG-LEFT and JOG-RIGHT button on the control panels. Try it, its really amazing how well it works

and its very simple to implement in the code. If 254 jogs the bot too much, back it off to 225 or 200 till you get the effect you want.