Notice below the err values are just fine when I move slowly, but applying a large instantaneous motion to my masterEncoder (essentially a step response). The err builds up exponentially starting at -12668.67.
-6.23
-1.12
-1.12
-1.12
6.37
6.96
2.14
-5.98
-0.60
8.68
15.87
5.08
-2.71
-3.31
-1.20
0.60
4.20
7.80
5.70
-0.30
-0.30
-0.30
-1.80
-1.80
-2.10
-5.70
-12.01
-11.12
6.57
-4.51
-11.69
-9.27
-8.96
-0.85
-0.85
-0.85
-35.35
-12668.67
-25233.88
-33518.90
-42608.51
-52169.74
-61758.05
-71490.49
-81504.08
-91523.61
-101471.30
-111362.58