[Uberbots]

One of the programmers came in with a copy of the code on his laptop. He said he had "optimized" the code.

any guesses as to what happened?


thanks to the wonders of parallel programming, our new programmer introduced several race conditions and deadlocks into the code. We spent 3 hours looking for all of them before giving up and returning to the previous (more messy) version of the code. what fun.


more errors... labview's included PID loop didnt behave like any pid loop we had seen in the past (we tend to keep our kP kI and kD independent of one another), which led to lots of fun while tuning this thing. the weirdest error was if you set the range on the PID loop to "1-255", the target value is "setpoint * range_midpoint / kP". our turret tried to spin 127,000 encoder ticks!