[Sparkyshires]

I'm adding some diagnostics and should be able to test it soon, but I'm assuming that's whats happening because when we call command A that goes to, say, 1000 encoder counts, and then command B (which should go to -1000) before it reaches, it will kinda stutter like it's being repeatedly told to go positive and then zero, going forwards until it hits 1000 and then run in reverse at normal speed until it hits -1000 then stop.

Btw those were arbitrary numbers