[apalrd]

A couple more software tips:

1. I run a deadband at 0.4 on our window motors. The machine physically could not move outside of that range, so running them there wouldn't do anything except heat them up.

2. I run an anti-death function that kills the output if the sensor does not change enough, and it has been at least 700ms since a state change. This prevents the motors from stalling when they cannot reach their target (We sometimes drive the target past the mechanical limits, so it will hit the limit for certain, since some of the design requires it to go as far as possible).

3. You shouldn't get much (if any) fiddling by the PID loop if it is tuned right., since the motor can't fall, any power it is applying is to move somewhere (not to hold its position).

4. We run all Victors, no Jaguars at all.