Version 11.1 Issue
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Not sure what I broke in version 11.1. I'll be looking into it over the next few days. The changes I made were mostly cleaning up the code, so performance shouldn't have changed much.
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One last note -- my Precise MEA calculation could be improved, and I may work on it in the future. The current implementation works, but it uses a shotgun brute force approach which I should be able to improve if I put my mind to it. What makes it so tricky is handling situations where the robot is near walls in combination with taking drive limitations into account (turn rate, accel/decel rates).