just tried that raw test [no code], it works great, no stutter, all of the motors spin perfectly this tells me there's a glitch with Applesoft Basic so I still have to dissect the code some more to see where it gets corrupted these are the hard-coded values from the raw test, POKE 49344, 0 ---> ALL Ports=OFF POKE 49344, 1 ---> Port# 0=ON POKE 49344, 2 ---> Port# 1=ON POKE 49344, 4 ---> Port# 2=ON POKE 49344, 8 ---> Port# 3=ON POKE 49344, 16 ---> Port# 4=ON POKE 49344, 32 ---> Port# 5=ON Then, we tried using this combination, so we can run the motors fwd and rev this requires using the combined Ports, A, B, C to use the Motor Bridge circuit POKE 49344, 1 ---> Port# A=FWD [Right Motor] POKE 49344, 4 ---> Port# B=FWD [Left Motor] POKE 49344, 16 ---> Port# C=FWD POKE 49344, 2 ---> Port# A=REV POKE 49344, 8 ---> Port# B=REV POKE 49344, 32 ---> Port# C=REV we used this convention for the motor direction Fwd: Binary= 01 Rev: Binary= 10 Then, we tried using this combination, so we can run 2 motors at the same time the robot only has 2 motors for now so just these permutations are used here POKE 49344, 5 ---> Binary= 0101, Port# A+B=FWD POKE 49344, 10 ---> Binary= 1010, Port# A+B=REV POKE 49344, 4 ---> Binary= 0100, Port# A+B Turn Right Fwd POKE 49344, 1 ---> Binary= 0001, Port# A+B Turn Left Fwd POKE 49344, 8 ---> Binary= 1000, Port# A+B Turn Right Rev POKE 49344, 2 ---> Binary= 0010, Port# A+B Turn Left Rev POKE 49344, 6 ---> Binary= 0110, Port# A+B Spin Right Fwd [Left=Fwd, Right=Rev] POKE 49344, 9 ---> Binary= 1001, Port# A+B Spin Left Fwd [Left=Rev, Right=Fwd] so then we were going to hard-code these values for each direction, and then steer this robot with the Joystick together with the 2 button on there the two joystick buttons are used to switch steering modes, between Turning and Spinning Dan