[TASK] Tune/reconsider Intake PID

[skrunked]

Description:

At WPI, we added a PID to the intake rollers, but it didn't really improve the brownouts. Either tune the setpoint velocity and PID controller, or switch it back to open loop control.

Category:

• Documentation
• Refactoring / Cleanup
• Testing
• Tuning/Calibration
• Setup / Configuration
• Other:

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Urgency

• Nice to Have
• Important
• Critical

Impacted Modes:

• Disabled
• Teleop
• Auto
• Simulation

Impacted Systems:

• Drive
• Vision
• Autonomous
• Logging
• Mechanism(s)

When?

• Periodic
• Init
• Command

File(s) of Focus:

Resources:

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Screenshots/GIFs/Videos:

[skrunked]

Reverted to open-loop in #97, still need to remove closed loop control constants and such.