i've messed around a little with the bs2 code for the geocrawler 4 project and would like to point out one flaw:
DeltaLong = -1 * DeltaLong 'reverse to conform with ArcTangent coordinate standards
DeltaLat = DeltaLat * (128 / 9999) 'adjust them so the max values are +- 128, to conform with ArcTangent standards.
DeltaLong = DeltaLong * (128 / 9999)
workVal = DeltaLong ATN DeltaLat ' reuse workVal (to save variable memory) to hold binary radian result of ArcTangent
" (128 / 9999)" will return a decimal which of course the stamp cant handle so i replaced it with "DeltaLat = DeltaLat ** 839"
and it debugs a good number .before it would only debug "0". i have further modified the code to use the parallax servo controller and hope to do some test flghts in the next month or two when time/wheather allow