[Tom Line]

Specifically, when I say RPM, I mean RPM as measured from our encoder. If we use the 'getrate' from the encoder get .vi, we get horrid noise. We now measure distance over 30 ms to calculate the actual rate. This is far more stable, though we do see a spike every second or two that I'm going to filter out as Chris suggested for our shooter enabling code.

As much as I'd like to keep messing about, we installed a new shooter transmission today and a more accurate turret potentiometer, and we're going to be tuning it for the next three days so we have a setup ready for nationals. I suspect we'll stick with PID for now.