Judging preparation

[adityapawar1]

Create a judging branch (call it simulation-testing so the judges dont get suspicious)
We want to show proof that we have working dpg and simulation for testing without the robot.

Lucas - get dpg working well in sim, if done, help tune stuff
Ryan - tune feedforward and feedback for arm and elevator

For tuning - look at the equations here for elevator and arm, learn what each variable (kG, kV, kA, kS) mean.

1. Tune kG, Most important thing to know is kG is supposed to oppose gravity. Set PID and all other constants to 0. try to get the arm to hover with just the kG constant, no need to get it exact, but make sure the arm is moving very slowely up or down at the worst case
2. Tune kV, make sure the arm doesnt over shoot when increasing this
3. kS and kA dont matter in sim
4. Tune PID, you should only need P and maybe D

[3LucasZ]

Judges were blown away at SVR this weekend. Good job y'alls!