And she also gave me a nice graph of a few sample runs
It's clear that the scale can be improved, but is pretty close to working now. Erica brought it home for me to work on. I think I have enough code space left to add the Derivative and Integral terms back into the PID loop, which should make it less noisy.
I also want to compensate for flag position in the final readout formula, so it can predict what the mass would be if it were perfectly balanced. This part is harder, and I'm not sure if it's needed.
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