Here's something interesting...

*Originally posted by Dave Flowerday *
**This is the reason that people who have “ramp up” code don’t see the “ramp up” effect if they start with the joysticks fully throttled: the BASIC Stamp has already gone through it’s throttling up phase and already thinks the robot is running at full speed! **

It is possible, however – if desired – to sense whether the robot is enabled (the comp_mode variable), and the robot could wait to start its accelleration ramp until it is enabled.