Ah good spot, i chose to keep that as that should only be applying if there is no acceleration, which means that it should slow down in both directions I will keep an eye out for it, i think the stutter is in fact because my braking methods are being called at the wrong time, I think i forgot to put in the 1% error margin in the isExceedingMaxSpeeds methods, that has helped, i now have no issues with going horizontal and going up, however my recent change has slowed going down to a crawl…