[PhilBot]

OK, I've done some more testing and I have some usefull information.

1) I'd recommend that everyone put a "beep" in the case statement that runs when the NXT Bluetooth VI returns a non-packet status. Specifically when "Message Received" = False. You can quickly determine if you have problem reception-errors. 200ms at 200Hz is pretty noticable.

Wheras I "thought" that the link was running prety smoothly, at some times it just seems to drop out (for me) and start beeping for no reason. I wonder if there is a "high Power" bluetooth base station I can find?

2) Sorry team 288, but your Dead-Zone scaling is a major CPU hog, and on my NXT it introduces a very noticable delay. I suspect that it's the floating point divide and two floating point multiplies. Without a floating point processor, divides can take a long time.

I just went back to using my own deadband, and the Toolkit's motor scale vi.
Driving is almost managable now.... (still not as responsive as a standard radio control with servos though)