paper: Shooter Wheel Speed Control

[Ether]

GetSpeed() returns the current measured encoder speed as reported from the Jaguar. So the total round trip time can be gotten from grabbing the time before and after the call. This is, of course, not very fine grain and includes the time spent being packaged in an Ethernet frame, going to the 2CAN, being unpackaged, put on the CAN bus, out to the Jaguar, and back again.

This is what I'm looking for, because this elapsed time (or perhaps half of it) causes phase lag in the process variable. If you could run this one test it would be helpful.