TBH (Take Back Half Algorithms(

Hey guys! Can anyone explain TBH looping and how to implement it with basic code

**paper: Take-Back-Half Shooter Wheel Speed Control - #10 by Ether - CD-Media: Papers - Chief Delphi

http://electronicdesign.com/analog/take-back-half-novel-integrating-temperature-control-algorithm
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See here: http://www.vexforum.com/index.php/14708-flywheel-velocity-control/0

James, the poster, is a Vex Mentor of the Year and is well known for his amazing code posts. “TBH” is something lots of the VEX teams are doing for this years game. Stronghold is a snap, only a few boulders to launch, “Nothing But Net” has teams launching 40+ objects.