Learn about and implement a torque control mode

[JediScoy]

closed loop requests
Velocity with Voltage comp (used on flywheels); better than DutyCycle (aka percent output).
TorqueFOC; better still?

[JediScoy]

/*Tuning the parameters of a PID controller, is a process of trial and error. Here's a general approach:
1. Set all gains (KP, KI, KS, KV) to zero.
2. Increase KP until the output of the system oscillates. Then decrease KP by about 20-50%.
3. Increase KI until any offset is corrected in sufficient time for the process. However, too much KI will cause instability.
4. Increase KS if you need to dampen the system response or if you need to make the system more responsive.
5. KV is the voltage compensation gain. It's used to compensate for changes in the system's voltage. Adjust this if you notice that your system's performance changes as the battery voltage drops.

Tuning PID controllers is often a matter of trial and error. You may need to repeat these steps and fine-tune these values to get the desired performance. Also, it's important to note that these steps are a simplified version of the process. Depending on the complexity of your system, you may need a more sophisticated approach. */

[JediScoy]

Kp and Kv (or Ks?) are likely only useful settings.

See also "Motion Magic Velocity" for flywheel.

[JediScoy]

Combined with #250