config
/ctl/current_limits/max: 3.0
/ctl/current_limits/min: -3.0
/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/position_pid/d: 1000000.0
/ctl/position_pid/i: 1.000000013351432e-10
/ctl/static_friction_decay: 1.0
/ctl/static_friction_scale: 2.0
/ctl/velocity_limits/max: 10.0
/ctl/velocity_limits/min: -10.0
/ctl/velocity_pid/d: 10000.0
/ctl/velocity_pid/i: 1.0000000116860974e-07