Have to admit this, but I am trying not to be a pointy haired boss!
My developers tell me when they think stuff will be done and how long it takes. They then can do it when and where they like. As long as they are within project timescales +/- a percentage of time.
All is good, they get freedom and the sense of shipping on time most of the time.
However, when doing projects - it feels great to ship, I get all warm and fuzzy as they have shipped to the business and the business just gets on and does the job - hopefully a little faster and hopefully better. But this is very long cycle for us - typically around 9 months to a 1.5 years....
SO I am left as the manager wanting to get (shorten) the postive reward vibe to help in postive motivation....
So should I use estimations and performance on those estimations to get a short positive reward vibe going...