Tuning Notes

// WAYPOINT_DATA: [{"position":{"x":25,"y":45},"theta":0,"comment":""},{"position":{"x":83,"y":95},"theta":1.5707499999936907,"comment":""},{"position":{"x":83,"y":165},"theta":1.5707499999936907,"comment":""}]
// IS_REVERSED: false
// FILE_NAME: LeftArc
// DT: 0.02
// MAX_VEL: 40
// MAX_ACC: 60
// MAX_JERK: 200
// WHEEL_BASE: 26
// PACKAGE: org.frc5687.powerup.robot.commands.auto.paths
// PARENT: DynamicPathCommand

Talon: kF=0.28
Cheese: kP=7, kD=0.1, kT=-0.4