Apparently (thanks again cougar robotics) this is a problem - sometimes the encoder will spit out an entirely wrong value and everything goes haywire. This will be tricky to solve because of the way our encoder code is written right now, as the function for limiting encoder values is not meant to have a delay as it's supposed to be called in a loop... but we can sacrifice that for this if necessary.
Apparently (thanks again cougar robotics) this is a problem - sometimes the encoder will spit out an entirely wrong value and everything goes haywire. This will be tricky to solve because of the way our encoder code is written right now, as the function for limiting encoder values is not meant to have a delay as it's supposed to be called in a loop... but we can sacrifice that for this if necessary.