Could someone look this over?

[Joe Ross]

Originally Posted by Texan

It might not be doing the conversion from a unsigned char to an int correctly. Maybe an explicit cast will help...

That is exactly the problem and the solution.

[Ryan M.]

Yes!

PS Excessive celebration, 5 yard penalty.

Any more suggestions appreciated. Thanks

[Joe Ross]

     	if(currentPWM >= goalPWM + sensitivity)
     		return currentPWM - sensitivity;
     	if(currentPWM <= goalPWM - sensitivity)
     		return currentPWM + sensitivity;

Since everything is an unsigned char, then this code is a problem.
If goalPWM is 254 and sensitivity is 10 and CurrentPWM is 127, the result of (goalPWM + sensitivity) is 8 and so CurrentPWM is greater then 8 and you return 117 not 137 like you hope.

[Ryan M.]

Originally Posted by Joe Ross

        	if(currentPWM >= goalPWM + sensitivity)
        		return currentPWM - sensitivity;
        	if(currentPWM <= goalPWM - sensitivity)
        		return currentPWM + sensitivity;

Since everything is an unsigned char, then this code is a problem.
If goalPWM is 254 and sensitivity is 10 and CurrentPWM is 127, the result of (goalPWM + sensitivity) is 8 and so CurrentPWM is greater then 8 and you return 117 not 137 like you hope.

Yep, that will be the problem I'm sure. I'll just add a few extra tests for the extreme cases. (wanting to be at 0 and 254)

And the funny thing is, I had already paritially taken looping around into acount in the code.