Ouch, i believe your "Shot at it" found it's target ..... sinking .... mayday. It's difficult to beat zero code, really difficult ...... sort of impossible.

However, i want to point out that if you change the value of "Dec_Speed" you infact change the values in the array(ssmax17&18). This makes it impossible to use for other tasks, not a problem in this application(i hope). I bet you know that but some people find it difficult to get their head around this.

Good job!

/Ingvar