[Kevin Sevcik]

Not to belabor the point, but in case anyone hasn't thought it out fully yet, this resolution issue is going to now be a permanent feature affecting the use of standard RC style servos, and that isn't going to improved by any new motor controllers. Granted, such resolution was primarily useful for tracking with the CMUCam and we'll be getting much better vision equipment and processing at some point, but still.

Also, I just had a brainstorm. I can't get my hands on our robot right now to test this theory, but could you calibrate the Victor to work with a pulse longer than 2 ms or shorter than 1ms? If anyone in this thread is using Kevin Watson's precision PWM code, you should be able to create a 1-3ms pulse width with your GAIN constant set to 79 and your CENTER constant set to 20000. I'm curious if the Victor can successfully calibrate to this range, or possibly .5-2.5ms. Doubling the pulse width difference should get us back to a comparable resolution to what we currently have.