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So with a bit of coding you can set it up so that your system cuts all power when the velocity is below a threshold. Wait until the encoder ticks stop coming (indicating the robot is stopped, of course), and then continue.
If his code interprets that as encoder ticks he will have continuing issues.
That's usually how it happens with my robots: I start by building little test platforms that do one thing, then once I've learned just about all I can from that platform, I'll use all my experience and start again, building a better platform, use it to its max, and just keep going. The hand I'm building right now is currently in its third generation and probably has at least two or three more to go before it has all the functionality I'm looking for.So keep playing until you're ready to move on!MIKE