should ps2 games be backed up on dvd-r or dvd+r?

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Generally DVD-R works best, it's not as fussy to the PS2's laser than DVD+R (to old lasers at least, I've heard). +R still works fine, however. If your PS2 acts a bit weird with various -R media (from different manufacturers) then try +R. Or just use what you got -- if there's a problem, just try some other discs. If it works... then I suppose there's no problem :)

(I assume this is all legal backups/homebrew of course)