Since I forgot my team is not meeting until next Tuesday, I will check it then.
Averaging the rate further with a
moving average gives us a mostly constant speed (+-2%), but the problem is that when the PID loop adjusts the motor speed, it will oscillate the motors because the "moving-averaged" process variable that the PID uses does not accurately reflect the present rate of the motor. Would applying any of the filters described in
this thread give us a smoothed rate that more accurately reflects the present speed of the motor?