Limit jerk, not just speed
A motor may be able to reach a target speed while the mechanism cannot comfortably absorb the transition. Smooth acceleration profiles reduce vibration and make stopping positions more repeatable.
FIELD NOTES
Notes for building thoughtfully.
A few compact ideas worth checking before a machine leaves the bench.
Timestamp at the source
Sensor values are only useful when their timing is clear. Record when a sample was taken, then account for transport and processing delay before using it in a control loop.
Make the safe state obvious
Define what the machine should do when a reading is missing, power dips, or communication stops. A safe default is easier to test when it is part of the normal state diagram.