torque
61c10df63d
This should have been multiple commits, but it isn't. Sue me. This change has two main goals: 1. Sample feedback at the beginning of the control loop iteration so that it is always up-to-date when we are computing the actual drive outputs. This means we're doing twice the amount of communication with the labjack (previously, setting the output and reading the feedback was done with a singe command). However, this makes the loop structure much more standard, and it means that we aren't constantly operating on feedback that is stale by one loop interval. 2. Sample feedback into a (configurable size) buffer. This lets us operate on aggregated feedback rather than on a single instantaneous data point. Right now, feedback is computed as a moving average, which acts as a rudimentary low-pass filter, reducing spurious single-loop actions due to feedback spikes or other noise. However, the other reason to aggregate some backwards data is that it will let us do automatic stall detection in a simple way, although that is not currently done.