Save the Gearbox, Save the Game

[Mark_Benedict]

Depending on your gearing, you can change the aRate and dRate. 8 and 12 worked well for us. Feel free to change it to suit your needs.

To get more responive braking, put the Victor jumper on "B", the inner 2 pins. This will cause the robot to actually stop after you tell it to.

About the negative or >255 pwm outputs, you can put a limiter on the temporary pwm. something along the lines of (* is wildcard):

if (pwm**temp > 255)
pwm**temp = 255;
else if (pwm** < 0)
pwm** = 0;

If the bad pwm's give you a problem, put these lines of code before the pwm assignment, but after the if/else block, replacing th *'s with the approprate number.