Dave Schulpius USA #1 May 12 I'll be there if at all possible. If not I will defiantly be watching after the fact. From the DE website: Sabertooth: Allows you to control two motors with: analog voltage, radio control, serial and packetized serial.Kangaroo x2: Position or speed control, Quadrature encoder feedback or potentiometer feedback, 80,000 pulses/sec processing, Support for limit switches and mechanical stops, Analog, R/C and serial inputs, serial and packetized serial support.A couple things I'd like to see demonstrated: Using an ARC Sabertooth Movement Panel to control the Sabertooth with and without a Kangaroo attached. Sending servo commands from ARC to control the Sabertooth with and without a Kangaroo attached.The idea would be to find out what is needed to in ARC to control a Sabertooth with or without a Kangaroo. Which method is easier or more precise (either, both , or) for position and speed control of a DC motor using the Sabertooth with or without a Kangaroo. What it takes to operate a Sabertooth through ARC with or without a Kangaroo and why each method would be used. Right now I am sending Simple Serial Commands through the Uart Ports of EZB v4 to command a Sabertooth/Kangaroo to precisely move DC motors to certain positions at different speeds. The commands look like this:Code:uartWrite(1, 0, "1, p50200 s20996", 0x0d) #rotate half leftSleep(3000)uartWrite(1, 0, "1, p113261 s20996", 0x0d) #rotate half rightSleep(5000)uartWrite(1, 0, "1, p78200 s20996", 0x0d) #rotate to center postionI've always wondered if simple servo commands would accomplish the same thing. Life has gotten in the way of my experiments and my personal robot is not operational for testing. If all this is above what you wanted to accomplish with your Hack I totally understand. What ever you do with this Sabertooth/Roo combo will be much appreciated by all. It's a wonderful setup once everything is tuned and working.