- fix velocity (not getting high enough, presumably confidence constants are broken)
- average ds command and current velocity for elsewhere
- turret velocity
- check if drivetrain speed limiter is working for shoot on the fly
- jittery
- think about speed limiting while passing
- test to make sure max speeds are actually max speeds
- crazy snap to 90 tech (its fire)
- regs. for passing, yaw
- ensure turret is correctly rotated relative to center of robot
- turret abs. encoder (accurate zeroing)
- tune hood PID? never got changed after plates got recut, but might mess up shooting? be careful
- might need to tune turret PID, check if soft stop is working as intended
- might want to just limit rotation rate
- might want to think about stopping handoff while snapping back from softstop, low priority
- think about soft stop behavior while shooting
- man mode
- recalibrate limelights?
- fix deadzone being high on inputs
- how to pass in starting pose for auton
- think about efficient calibration workflow at comp
- notes: in lib.rs, currently calling shooter tables instead of passing tables for bottom pass target. easy fix, just change shoot_to -> pass_to
- debouncer
- generational merge conflict
- logging system