Don't forget the latency of the opto couplers in the breakout boards... That messed me up once. They were slow and the speed was high... At a certain range VERY bizarre inaccuracies started to creep in and it took me some time to figure out why the heck things went the way they did. Needless to say that I ended up with an intimate knowledge of every ball in the bearings, and line of code in the servo drives to find that one out.... It was one of the most liberating feelings in my life to have that issue solved. It was short of believing in vodoo till the root of my problem was found. Cheers and a happy and trouble free 2010 (one can wish ehhhh) Rainer
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