Serializer Firmware v1.5.0 is now available for download on the Serializer web page.   This firmware release includes the following additions/improvements/bug fixes.

• Improved PWM ramping - You can now ramp up/down from any speed, to any speed, including ramping from positive speeds, to negative speeds.
• Fixed PWM scaling bug.  The full PWM range is now useable.
• Added PID Algorithm Status ('pids') command, so you can query the state (busy/complete) of the internal PID distance algorithm.   This allows you to poll the Serializer, using 'pids', to determine when a 'digo' command has completed.  You can then issue another 'digo' command w/o clobbering previous commands.
• Added 'line7' command, which is identical to the 'line' command, except that it returns two additional digits for our latest Line Following sensor board.  The new Line Following sensor board now has two additional inputs, which allow you to connect our new Single Line Following sensors, and/or momentary/bumper switches for bump sensing applications.
• Minor clean up

We also updated the Serializer User Guide (v2.1), which is also on the Serializer web page.  You can upgrade your firmware using the instructions found in the Serializer User Guide (make sure you have a fully charged battery that has at least 6V out before upgrading your firmware!).

An updated Serializer .NET Library will be released some time next week.

Updated MSRS Services will be available in several weeks.

Best Regards!