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In my experimentaion with the mindstorms roataion sensor the slower you can get it the better, i think it may have to do with the RCX not checking as fast as it needs to or sumthing like that. Im not sure on the RPMS maybe, unless you need to calculate anything with legos the best way to get a program to work is get some idae of what to do and tweak the programming til you get it right, due to the fact that even if your motor goes crazy and your creation breaks its always repairable.
Andrew
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