[PhilBot]

Hi Richard...

That's pretty cool and useful. In many ways it mimics the template that shipped with the FRC LabVIEW beta test. Lots of good comments too.

I've been playing with the encoder controls a bit, and your code would be easilly adapted to that to (constant speed vs move motor)

My only trivial suggestion is that instead of inverting the drive signal to one motor, you can set the "Invert" input to "true" for that wheel.

The only reason I mention this is because if you do end up using the encoder based motor drives, the "invert" input is also used by the encoder code, so both motors will count in the same direction, even though one is running in "reverse".

Phil.