Talked about the calibration program. Peter Thaulad finally got back to us. Unfortunately, he doesn't have a copy of the calibrationright.cpp. Kuan and Dan are attempting to make it from scratch. They have decided to concentrate mainly on user, main, and control as their source for the reconstruction. The idea is to use the extra encoder channels on the board to calibrate the motor encoder and LOHET. They will do this by disengaging the arm from the base motors and rotate 360 degrees while reading in info. -- SamsonPhan - 19 Mar 2008