isUpToSpeed should only return true if it's been up to speed for multiple iterations

BitBucketsFRC4183 / FRC2022-Rapid-React

Team 4183's repository for our Rapid React robot's code

MIT License

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isUpToSpeed should only return true if it's been up to speed for multiple iterations #168

Open cpostbitbuckets opened 2 years ago

cpostbitbuckets commented 2 years ago

Maybe 3 loops in a row? We are seeing some oscillation in the up to speed status until the motor stabilizes. This could possibly be fixed with pid, but it'd be good to have it be stable for 60ms or so at least (3 loops)