[galewind]

Thanks, that's the type of answer I was hoping for.

When we did our autonomous programming before, if we had added a few more lines of code to a specific step or routine, we had to subtract from the number of times the main do loop was executed to compensate for the additional amount of time spent. It was quite tedious changing values so frequently, which cost us precious rounds (we didn't start programming autonomously until after we shipped and had no 2nd controller to accurately test on).

From what I'm understanding, this won't be as big of a problem this year, and code can be more accurately written around theoretical timings vs "time-trial" timings.

Thanks for your help!