config
/ctl/current_limits/max: 10.0
/ctl/current_limits/min: -10.0
/ctl/current_pid/i: 2.0480000972747803
/ctl/current_pid/p: 4096.0
/ctl/position_limits/max: 10.0
/ctl/position_limits/min: -10.0
/ctl/velocity_limits/max: 10.0
/ctl/velocity_limits/min: -10.0
/ctl/velocity_pid/i: 0.0005000000237487257
/ctl/velocity_pid/p: 64.0
