i'm back, with some news ... i solved the problem of the motor jumping using the setStallTreshold, and some build improvements.
Yesterday i made this vídeo: http://www.youtube.com/watch?v=MEIXqwp9Fbo
i think i can improve him a bit, but there are sometimes that i don't understand what the robot is doing.
First of all i forgot to tell that i'm using the Behavior methodology, and sometimes he starts a behavior that he should get down and release the cd ...
and he just get down and don't release the cd, maybe i'm using the setStallTreshold wrong, if you guys want, later i can post the algorithm here...
but i'm using like this: setStallTreshold(2 , 4) to open the claw and setStallTreshold(3 , 6) to close the claw
Thank you one more time guys!