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Re: How to grdually speed up the robot?
We use what's called a rolling average to accomplish this. You keep a list of the past X values and average them together to get the current value. Each iteration you add the new value at the end and drop the first value. The more numbers you store the slower the system will react to changes. We wrote a utility to do this, I can get one of our students to post the code for it if you'd like.
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