[PhilBot]

Since you're talking "power Switches" I assume you are talking about the DC motors, and not the LEGO motors.

So, I am surprized that Robot C is using 16 Bit ints for the encoder values.
Are you sure about that..?

The encoders report 1440 pulses per revolution, so it only takes 22 revolutions to overflow an int16.

The Hitechnic motor controllers actually report 32 Bit ints, so it doesn't seem logical to throw away 16 of those bits. (eg: LabVIEW uses all 32 bits)

However, I guess the real question is whether it's possible to put the motors into "coast" to let them slow down normally. The Hitechnic manual says that it is possible. Does Robot C need a flag for that?