{"action":"closed","issue":{"url":"https://api.github.com/repos/FRC2539/command-based/issues/12","labels_url":"https://api.github.com/repos/FRC2539/command-based/issues/12/labels{/name}","comments_url":"https://api.github.com/repos/FRC2539/command-based/issues/12/comments","events_url":"https://api.github.com/repos/FRC2539/command-based/issues/12/events","html_url":"https://github.com/FRC2539/command-based/issues/12","id":53219705,"number":12,"title":"Feed Forward Encoder","user":{"login":"FRC2539","id":3255259,"avatar_url":"https://avatars.githubusercontent.com/u/3255259?v=3","gravatar_id":"","url":"https://api.github.com/users/FRC2539","html_url":"https://github.com/FRC2539","followers_url":"https://api.github.com/users/FRC2539/followers","following_url":"https://api.github.com/users/FRC2539/following{/other_user}","gists_url":"https://api.github.com/users/FRC2539/gists{/gist_id}","starred_url":"https://api.github.com/users/FRC2539/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/FRC2539/subscriptions","organizations_url":"https://api.github.com/users/FRC2539/orgs","repos_url":"https://api.github.com/users/FRC2539/repos","events_url":"https://api.github.com/users/FRC2539/events{/privacy}","received_events_url":"https://api.github.com/users/FRC2539/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/FRC2539/command-based/labels/cleanup","name":"cleanup","color":"bfe5bf"},{"url":"https://api.github.com/repos/FRC2539/command-based/labels/enhancement","name":"enhancement","color":"84b6eb"}],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-01-01T13:28:39Z","updated_at":"2015-01-11T17:48:42Z","closed_at":"2015-01-11T17:48:42Z","body":"Currently, in the EncoderRatePIDController class, there is a lot of math required just to keep the PID controller from varying from the current speed. A much better solution would be to override the Calculate() method, and use the previously set value as the feed forward constant. This would remove many calculations and function calls, and probably speed up the drive loop significantly."}}