motor drive libary to use speed control, coasting and dynamic braking. NOTE, dynamic braking my result in large currents. this may or may not set the motor driver on fire/break it/other undesired effects. so read the data sheet folks.
--- a/motordriver.h Sat Nov 06 13:05:17 2010 +0000 +++ b/motordriver.h Thu Nov 11 15:32:55 2010 +0000 @@ -71,6 +71,7 @@ DigitalOut _fwd; DigitalOut _rev; int Brakeable; // (addition) + int sign; //prevents throwing the motor from full foward to full reverse and stuff melting. };