Quote:
Originally Posted by ProgrammerMatt
...its practically the same as current time - last time
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GetRate() computes the rate based on the elapsed time of
a single encoder pulse (the most recent one).
This is manifestly
not the same as the computing the rate using delta counts since the last sample and dividing by the elapsed time since the last sample, for sample periods on the order of 20ms and encoder pulse periods associated with shooter wheel speeds.