diff --git a/packages/evian-control/src/loops/bang_bang.rs b/packages/evian-control/src/loops/bang_bang.rs
index 64b248a..5d22553 100644
--- a/packages/evian-control/src/loops/bang_bang.rs
+++ b/packages/evian-control/src/loops/bang_bang.rs
@@ -34,7 +34,7 @@ impl ControlLoop for BangBang {
 }
 
 impl Feedback for BangBang {
-    fn update(&mut self, measurement: f64, setpoint: f64, _dt: Duration) -> f64 {
+    fn update(&mut self, measurement: f64, setpoint: f64, _dt: Option<Duration>) -> f64 {
         if measurement < setpoint {
             self.magnitude
         } else {
diff --git a/packages/evian-control/src/loops/cascade.rs b/packages/evian-control/src/loops/cascade.rs
index 016a4d3..d90a212 100644
--- a/packages/evian-control/src/loops/cascade.rs
+++ b/packages/evian-control/src/loops/cascade.rs
@@ -60,7 +60,7 @@ impl<P: Feedback, S: Feedback<Input = P::Output>> Cascade<P, S> {
         primary_measurement: P::Input,
         secondary_measurement: S::Input,
         setpoint: P::Input,
-        dt: Duration,
+        dt: Option<Duration>,
     ) -> S::Output {
         self.secondary.update(
             secondary_measurement,
@@ -149,7 +149,12 @@ impl<Fb: Feedback, Ff: Feedforward> Feedback for Cascade<Fb, Ff>
 where
     Fb::Input: Clone,
 {
-    fn update(&mut self, measurement: Fb::Input, setpoint: Fb::Input, dt: Duration) -> Ff::Output {
+    fn update(
+        &mut self,
+        measurement: Fb::Input,
+        setpoint: Fb::Input,
+        dt: Option<Duration>,
+    ) -> Ff::Output {
         self.secondary.update(
             // SAFETY: This variant of the struct may only be constructed with Some(fn).
             (unsafe { self.map_fn.unwrap_unchecked() })(
diff --git a/packages/evian-control/src/loops/feedforward.rs b/packages/evian-control/src/loops/feedforward.rs
index a579ffa..c5c376d 100644
--- a/packages/evian-control/src/loops/feedforward.rs
+++ b/packages/evian-control/src/loops/feedforward.rs
@@ -100,7 +100,11 @@ impl ControlLoop for MotorFeedforward {
 }
 
 impl Feedforward for MotorFeedforward {
-    fn update(&mut self, setpoint: MotorFeedforwardSetpoint, _dt: core::time::Duration) -> f64 {
+    fn update(
+        &mut self,
+        setpoint: MotorFeedforwardSetpoint,
+        _dt: Option<core::time::Duration>,
+    ) -> f64 {
         self.ks * setpoint.velocity.signum()
             + self.kv * setpoint.velocity
             + self.ka * setpoint.acceleration
@@ -202,7 +206,11 @@ impl ControlLoop for ArmFeedforward {
 }
 
 impl Feedforward for ArmFeedforward {
-    fn update(&mut self, setpoint: ArmFeedforwardSetpoint, _dt: core::time::Duration) -> f64 {
+    fn update(
+        &mut self,
+        setpoint: ArmFeedforwardSetpoint,
+        _dt: Option<core::time::Duration>,
+    ) -> f64 {
         self.kg * setpoint.position.cos()
             + self.ks * setpoint.velocity.signum()
             + self.kv * setpoint.velocity
@@ -296,7 +304,11 @@ impl ControlLoop for ElevatorFeedforward {
 }
 
 impl Feedforward for ElevatorFeedforward {
-    fn update(&mut self, setpoint: ElevatorFeedforwardSetpoint, _dt: core::time::Duration) -> f64 {
+    fn update(
+        &mut self,
+        setpoint: ElevatorFeedforwardSetpoint,
+        _dt: Option<core::time::Duration>,
+    ) -> f64 {
         self.kg
             + self.ks * setpoint.velocity.signum()
             + self.kv * setpoint.velocity
diff --git a/packages/evian-control/src/loops/mod.rs b/packages/evian-control/src/loops/mod.rs
index 9323350..542f307 100644
--- a/packages/evian-control/src/loops/mod.rs
+++ b/packages/evian-control/src/loops/mod.rs
@@ -64,12 +64,12 @@ pub trait Feedback: ControlLoop<Marker = FeedbackMarker> {
         &mut self,
         measurement: Self::Input,
         setpoint: Self::Input,
-        dt: Duration,
+        dt: Option<Duration>,
     ) -> Self::Output;
 }
 
 /// Feedforward ("open-loop") controller.
 pub trait Feedforward: ControlLoop<Marker = FeedforwardMarker> {
     /// Updates the feedforward controller's setpoint, producing a new control signal.
-    fn update(&mut self, setpoint: Self::Input, dt: Duration) -> Self::Output;
+    fn update(&mut self, setpoint: Self::Input, dt: Option<Duration>) -> Self::Output;
 }
diff --git a/packages/evian-control/src/loops/pid.rs b/packages/evian-control/src/loops/pid.rs
index b7c01f8..c9c145d 100644
--- a/packages/evian-control/src/loops/pid.rs
+++ b/packages/evian-control/src/loops/pid.rs
@@ -202,7 +202,7 @@ impl ControlLoop for Pid {
 }
 
 impl Feedback for Pid {
-    fn update(&mut self, measurement: f64, setpoint: f64, dt: Duration) -> f64 {
+    fn update(&mut self, measurement: f64, setpoint: f64, dt: Option<Duration>) -> f64 {
         let error = setpoint - measurement;
 
         // If an integration range is used and we are within it, add to the integral.
@@ -212,13 +212,16 @@ impl Feedback for Pid {
             .is_none_or(|range| error.abs() < range)
             && error.signum() == self.prev_error.signum()
         {
-            self.integral += error * dt.as_secs_f64();
+            self.integral += error * dt.map(|dt| dt.as_secs_f64()).unwrap_or(0.0);
         } else {
             self.integral = 0.0;
         }
 
         // Calculate derivative (change in error / change in time)
-        let derivative = (error - self.prev_error) / dt.as_secs_f64();
+        let derivative = match dt {
+            Some(dt) => (error - self.prev_error) / dt.as_secs_f64(),
+            None => 0.0,
+        };
         self.prev_error = error;
 
         // Control signal = error * kp + integral + ki + derivative * kd.
@@ -359,7 +362,7 @@ impl ControlLoop for AngularPid {
 }
 
 impl Feedback for AngularPid {
-    fn update(&mut self, measurement: Angle, setpoint: Angle, dt: Duration) -> f64 {
+    fn update(&mut self, measurement: Angle, setpoint: Angle, dt: Option<Duration>) -> f64 {
         let error = (setpoint - measurement).wrapped();
 
         // If an integration range is used and we are within it, add to the integral.
@@ -370,13 +373,16 @@ impl Feedback for AngularPid {
             .is_none_or(|range| error.as_radians().abs() < range.as_radians())
             && error.signum() == self.prev_error.signum()
         {
-            self.integral += error.as_radians() * dt.as_secs_f64();
+            self.integral += error.as_radians() * dt.map(|dt| dt.as_secs_f64()).unwrap_or(0.0);
         } else {
             self.integral = 0.0;
         }
 
         // Calculate derivative (change in error / change in time)
-        let derivative = (error - self.prev_error).as_radians() / dt.as_secs_f64();
+        let derivative = match dt {
+            Some(dt) => (error - self.prev_error).as_radians() / dt.as_secs_f64(),
+            None => 0.0,
+        };
         self.prev_error = error;
 
         let mut output =
diff --git a/packages/evian-control/src/loops/tbh.rs b/packages/evian-control/src/loops/tbh.rs
index e683e1d..76c8b0a 100644
--- a/packages/evian-control/src/loops/tbh.rs
+++ b/packages/evian-control/src/loops/tbh.rs
@@ -42,7 +42,7 @@ impl ControlLoop for TakeBackHalf {
 }
 
 impl Feedback for TakeBackHalf {
-    fn update(&mut self, measurement: f64, setpoint: f64, _dt: Duration) -> f64 {
+    fn update(&mut self, measurement: f64, setpoint: f64, _dt: Option<Duration>) -> f64 {
         let error = setpoint - measurement;
 
         self.integral += error * self.kh;
diff --git a/packages/evian-motion/src/basic/distance_at_heading.rs b/packages/evian-motion/src/basic/distance_at_heading.rs
index dd97a7d..4ed7d35 100644
--- a/packages/evian-motion/src/basic/distance_at_heading.rs
+++ b/packages/evian-motion/src/basic/distance_at_heading.rs
@@ -19,7 +19,7 @@ pub(crate) struct State {
     sleep: Sleep,
     initial_forward_travel: f64,
     start_time: Instant,
-    prev_time: Instant,
+    prev_time: Option<Instant>,
     linear_settled: bool,
     angular_settled: bool,
 }
@@ -65,7 +65,7 @@ where
                 sleep: sleep(Duration::from_millis(5)),
                 initial_forward_travel: this.drivetrain.tracking.forward_travel(),
                 start_time: now,
-                prev_time: now,
+                prev_time: None,
                 linear_settled: false,
                 angular_settled: false,
             }
@@ -75,7 +75,7 @@ where
             return Poll::Pending;
         }
 
-        let dt = state.prev_time.elapsed();
+        let dt = state.prev_time.map(|pt| pt.elapsed());
 
         let forward_travel = this.drivetrain.tracking.forward_travel();
         let heading = this.drivetrain.tracking.heading();
@@ -114,13 +114,14 @@ where
             .angular_controller
             .update(heading, this.target_heading, dt);
 
-        drop(this
-            .drivetrain
-            .model
-            .drive_arcade(linear_output, angular_output));
+        drop(
+            this.drivetrain
+                .model
+                .drive_arcade(linear_output, angular_output),
+        );
 
         state.sleep = sleep(Duration::from_millis(5));
-        state.prev_time = Instant::now();
+        state.prev_time = Some(Instant::now());
 
         cx.waker().wake_by_ref();
         Poll::Pending
diff --git a/packages/evian-motion/src/basic/turn_to_point.rs b/packages/evian-motion/src/basic/turn_to_point.rs
index 2053ae3..72adf0f 100644
--- a/packages/evian-motion/src/basic/turn_to_point.rs
+++ b/packages/evian-motion/src/basic/turn_to_point.rs
@@ -19,7 +19,7 @@ pub(crate) struct State {
     sleep: Sleep,
     initial_forward_travel: f64,
     start_time: Instant,
-    prev_time: Instant,
+    prev_time: Option<Instant>,
     linear_settled: bool,
     angular_settled: bool,
 }
@@ -64,7 +64,7 @@ where
                 sleep: sleep(Duration::from_millis(5)),
                 initial_forward_travel: this.drivetrain.tracking.forward_travel(),
                 start_time: now,
-                prev_time: now,
+                prev_time: None,
                 linear_settled: false,
                 angular_settled: false,
             }
@@ -74,7 +74,7 @@ where
             return Poll::Pending;
         }
 
-        let dt = state.prev_time.elapsed();
+        let dt = state.prev_time.map(|pt| pt.elapsed());
 
         let forward_travel = this.drivetrain.tracking.forward_travel();
         let position = this.drivetrain.tracking.position();
@@ -120,7 +120,7 @@ where
         );
 
         state.sleep = sleep(Duration::from_millis(5));
-        state.prev_time = Instant::now();
+        state.prev_time = Some(Instant::now());
 
         cx.waker().wake_by_ref();
         Poll::Pending
diff --git a/packages/evian-motion/src/seeking/boomerang.rs b/packages/evian-motion/src/seeking/boomerang.rs
index 8c918c8..2817fbc 100644
--- a/packages/evian-motion/src/seeking/boomerang.rs
+++ b/packages/evian-motion/src/seeking/boomerang.rs
@@ -12,7 +12,7 @@ use evian_tracking::{TracksHeading, TracksPosition, TracksVelocity};
 
 pub struct State {
     sleep: Sleep,
-    prev_time: Instant,
+    prev_time: Option<Instant>,
     start_time: Instant,
     prev_position: Vec2<f64>,
 }
@@ -60,7 +60,7 @@ where
                 sleep: sleep(Duration::from_millis(5)),
                 prev_position: this.drivetrain.tracking.position(),
                 start_time: now,
-                prev_time: now,
+                prev_time: None,
             }
         });
 
@@ -68,7 +68,7 @@ where
             return Poll::Pending;
         }
 
-        let dt = state.prev_time.elapsed();
+        let dt = state.prev_time.map(|pt| pt.elapsed());
 
         let position = this.drivetrain.tracking.position();
         let heading = this.drivetrain.tracking.heading();
@@ -106,13 +106,14 @@ where
         let linear_output =
             this.linear_controller.update(-linear_error, 0.0, dt) * angular_error.cos();
 
-        drop(this
-            .drivetrain
-            .model
-            .drive_arcade(linear_output, angular_output));
+        drop(
+            this.drivetrain
+                .model
+                .drive_arcade(linear_output, angular_output),
+        );
 
         state.sleep = sleep(Duration::from_millis(5));
-        state.prev_time = Instant::now();
+        state.prev_time = Some(Instant::now());
         state.prev_position = position;
 
         cx.waker().wake_by_ref();
diff --git a/packages/evian-motion/src/seeking/move_to_point.rs b/packages/evian-motion/src/seeking/move_to_point.rs
index e85dcf2..f8ae335 100644
--- a/packages/evian-motion/src/seeking/move_to_point.rs
+++ b/packages/evian-motion/src/seeking/move_to_point.rs
@@ -13,7 +13,7 @@ use evian_tracking::{TracksHeading, TracksPosition, TracksVelocity};
 pub(crate) struct State {
     sleep: Sleep,
     close: bool,
-    prev_time: Instant,
+    prev_time: Option<Instant>,
     start_time: Instant,
 }
 
@@ -58,7 +58,7 @@ where
             State {
                 sleep: sleep(Duration::from_millis(5)),
                 start_time: now,
-                prev_time: now,
+                prev_time: None,
                 close: false,
             }
         });
@@ -67,7 +67,7 @@ where
             return Poll::Pending;
         }
 
-        let dt = state.prev_time.elapsed();
+        let dt = state.prev_time.map(|pt| pt.elapsed());
 
         let position = this.drivetrain.tracking.position();
         let heading = this.drivetrain.tracking.heading();
@@ -113,7 +113,7 @@ where
             .drive_arcade(linear_output, angular_output);
 
         state.sleep = sleep(Duration::from_millis(5));
-        state.prev_time = Instant::now();
+        state.prev_time = Some(Instant::now());
 
         cx.waker().wake_by_ref();
         Poll::Pending