Mindboards

I didn't have many time for trying this since last post, but now i am sure I know how. Thanks for help!

Yeah, it works!
I have next question: How to make motors stop more smoothly, but with using RotateMotor() function? I don't want OnFwd() and Float ().

i am not sure, but it can be something with PID what is it and how works?

There are many options and there have been many threads on these forums about exactly how to move motors. A standard API function may not exactly suit your needs. I think I posted a custom routine here in another thread that included ramp up and ramp down support but otherwise acted a lot like RotateMotor. It might work well for you. You could use the PID version of RotateMotor to see if adjusting the P, I, and D values make the routine stop more smoothly. Of course, a lower power level will make it stop more smoothly as well. That's one reason why trying the custom routine I posted that supports ramping up and ramping down might work for you also, since it ramps down 0 power as it reaches the target angle.

You'll need to just experiment with PID values and other motor control routines to see what works best - or roll your own.

John Hansen