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I'm gona add a bit to Dan's code. I believe i added the Delta_T variable to count the amount of cycles missed (if you hav elong code). Therefore, the only tweaking variable that you should have to change would be the "max_move". Basically, the higher it is, the less "lag", the lower it is, the more "lag" (this kinda goes without saying, but hey, never hurts to be specific).
I think that describes the "Auto-Calm Down" code (as we call it). If you need any help implementing this into your code, justdrop by our pit (Team 810) at nationals and either me or Dan (or both of us) will come over and help you. Also, if you need help with anything else programming wise, drop by and we'll try to help.
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