[MikeE]

David,

Thanks for the excellent explanation. I hadn't thought through the case of an external force changing the drive direction. It's great to learn something about the implementation subtleties.

We are using the Jaguar in speed control mode (i.e. PID on the device) rather than running our own control loop, so we'll log delta position as well and rerun our tests.

[Happily we did verify correct encoder operation.]

Thanks again.