Dave & Michael,
Thanks for your help, my problem is now resolved. I guess the subject
above is a bit misleading, but...
Ultimately, it turned out that the delays were all accurate, and I was
really getting errors because of a bit shift. Once Michael pointed out
that I2C could only handle 8 bit variables I changed my code to handle my
variables in 8 bit strings, and everything now works as expected. I
verified that there was no bit shifting or corruption, by passing known
values from the robostix to the gumstix.
PS: Dave, thanks for catching the bug in my processCommand function, I
don't know how I could have missed that.
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