Emergency stop command does not work in closed loop mode?

The idea is to use an SDC2130 motor controller in closed loop speed mode in order to use a pair of encoders to verify distance traveled. So I could write a function to tell it to move five feet and it will be able to travel in a straight line for that exact distance. I\'m using a pair of optical encoders connected to the motor controller\'s serial port.

However, after issuing the GO command in c++ the motors do not stop, even after an emergency stop command is used. They also seem to go full bore instead of using the power sent to them with the go command. If I switch the motor controller to open loop mode they seem to accept the commands fine.

Check first in open loop that the speed reported by the encoder is of the same polarity as the command sent from the slider. If backwards, swap the two channel outputs from the encoder.