[Lynx34]

usbcd36,

I like your solution as well; it seems to have a bit more precision, but I have a few questions. I have a few guesses as to what a 'slow loop' is, but I'm not real positive, could you clear up a bit on that? I'm a programmer by experience, not by formal education, so common terms and vocabulary sometimes (frequently) go over my head.

I'm assuming ticks are reads by the gear tooth sensor. Also, for the ErrorPrev variable, is that previous as in the previous cycle throug hthe code or previous on some kind of time interval?

Since this is tank driving where each joystick directly affects the respective motor, how will their assignments differ?

Thanks again for the reply.