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Hello! I have the PI loop working again, with Kp = 1/8, Ki = 1/8. It's as smooth as I've ever seen it, but too sluggish. I bet it would be a hair snappier on a larger motor. I wish I had both! Oh well... Here's a question:
If an interrupt handler takes too long, overlapping when the next interrupt would have happened, does the next interrupt get skipped, or does it get executed as soon as it's able to be? The simulator seems to indicate that the next interrupt gets run as soon as it can. That could have been part of the problem yesterday with the slow 32 multiplying.
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