[Tom Bottiglieri]

Originally Posted by CharlieWilken

but from step 1 to 3
Motor = 127 +(-2*127) = -127
that doesn't seem right
or am I doing this wrong?

Wanted - 3
Current - 1

3-1 = 2

2*127 = 255
127 + 255 = (in unsigned char talk) 255