The key part about that idea is the "always". When we are trying to block the puck it is virtually always changing direction. It is either coming in a curve or we are getting inconsistencies from the camera. The camera inconsistencies are very small luckily, but if the image processing drops a pixel here or there differently from the previous frame then it thinks the pucks is oscillating. This just gets worse when the puck is on the opposite side of the board.

But to your point, this can definitely all be accounted for in code. We could try to ignore small changes in puck location, but sometimes we actually want to pay attention to them. We could try to track the direction of the puck a little more smoothly, we just decided to spend time on other things. It would absolutely make the design better, but we ended up spending these last few weeks adding features and cleaning up a couple bugs ;D

The majority of the jittery behavior in the video is when it tries to go between "Track" and "Intercept" mode which is usually a matter of the speed of the puck being right at that threshold between the two.