[EricS-Team180]

Running it in a slower loop won't necessarily flatten out the spike. I see other teams talking about "ramping their Jag inputs". That is more like what I am suggesting. I dug up an older example of doing just that with an analog joystick and Vic. It should be pretty easy to adapt it to the digital flightsticks and a Jag. Also, I re-checked last years code base. We rate-limited the swerve position to 20hz....not 20msec. So, more like 50msec. ...sorry 'bout that

A rate limiter for pwm / vic voltage:

Here's an older thread:

http://www.chiefdelphi.com/forums/sh...ot+of+pwm+data

//
//
// a joy stick rate limiter for an IFI controller
//
// joy is the current joystick reading
// LPjoy is the last pass joystick reading
// RateLimit is the allowed change in joystick value / pass
//    
//
// set LPjoy to joy after calling this
//
unsigned char RateLImitJoyStick(unsigned char* joy, 
                                unsigned char* LPjoy,
                                int            RateLimit)
{
   int speed ;
   unsigned char limited = 0;

   speed = (int)joy - (int)LPjoy ;
   if(speed > RateLimit)
   {
       speed = RateLimit;
       joy = speed + (int)LPjoy ;
       limited = 1 ;
   }
   else if(speed < -RateLimit)
   {
       speed = -RateLimit;
       joy = speed + (int)LPjoy ;
       limited = 1 ;
   }
   else{} 

   return(limited) ;
}