Could someone look this over?

[Ryan M.]

Originally Posted by KenWittlief

also this code

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if(currentPWM >= goalPWM + sensitivity)
return currentPWM - sensitivity;
if(currentPWM <= goalPWM - sensitivity)
return currentPWM + sensitivity;
__________________________

both IFs can be true when the first IF causes the value to change, then the second one will become true and change it again - I dont think you want that - shouldnt the first IF jump over the second one when its true?

We return after one of them is true, so it doesn't matter.