Gday Baz
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The base only controls the motors from the data sent by the handset where all the calculations take place.
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Im not sure thats 100% correct in this case.
The motor card PIC does have some local control in the application of backlash, and the timings of the motor control feedback loops.
Ive not heard of the "creep after beep" type effect occurring in both directions tho. Very weird.
Using a 497 type hbx will allow much better control over whats happening.
Andrew