[baronep]

1. I have heard a lot about a "feedforward loop". Is that just an accumulator? A feedback loop? A picture is worth a thousand words

2. How does the sampling rate affect this. I am currently running the loop at 50ms using a Timed Loop. Does anyone know if adjusting this up or down would help at all?

3. Is a 5% error significant or is the inconsistency more likely rooted in a mechanical problem?