[emersont49]

We are using a PID routine for our steering. We connect a pot to the steering gear motor for feedback.

We are calling our routine in Default_Routines and the behavior is somewhat erratic (we are working on the K values).

Should I call this in teleop_spin() and use the Get_ADC_Result_Count() value to determine if something has changed on the pot?

I'm afraid the 22.6 ms loop is too slow. Our steering system moves fairly fast.