[alan4cast]

add these two to the list:

12) motors (with encoders and PID turned on) don't brake consistently (if at all). If a motor has pressure against it and you set the speed to zero it will brake and actually stop (depending on the settings in place at the time) (this is for raising an arm for instance). If, however, the motor has been acting to slow the item down (think of lowering an arm under control) then when you set the speed to zero, you just remove power - you don't stop it (most of the time). I haven't looked into it to see if this is a symptom of the connection to the NXT, but I don't believe that it is.

13) more servo options, or some way to not reset the encoder position in both lego and drive motors when the program starts running.