No discretize at all caused an error of about 48in over 15ft. WPILib’s / 254’s discretize method got us to 36in over 15ft. Our code with a multiplier of 1, is functionally identical WPILib’s and 254’s. The only difference is our code allows for us to use an additional multiplier to exaggerate the effect of discretize. We chose 4 because the original code appeared to only correct for 25% of the original error.