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Originally Posted by Dave Scheck
It feels like this should mess up your first cycle with a new target. It should correct itself on the second time through the loop when you recalculate your integral term, but it seems like you could have a huge overshoot on the first cycle.
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Could this be the phenomenon we saw at kickoff? When Dave gave the 'bot a nudge and it corrected itself, it overshot before it settled at the target orientation.