Not in prod today, but was part of a group project that we handed in and which got us an A.

The project was to write a PID controller for a robot that would drive along a track using a sensor to follow markings on the floor. During development we were drawing graphs of the PID parameters and sensor input every tick, which caused a bit of lag but no worries - we'll turn it off for the trial runs.

Imagine our pikachu shock meme when we turned off the graphs and our calibrations were suddenly *way* off since we had been oversteering all along to compensate for the lag.

There wasn't enough time to optimize it before the deadline and using sleeps didn't produce the same "type" of lag, so we just made the graph minimize itself when it opened. To this day I wonder if the professor ever saw it or if we got the A despite it.