tree 494d0c6066ac67deb8a338573716a28d310ae417
parent 3b3496ad47082d0db923ef55eb821376a3d2be2f
author Austin Schuh <austin.linux@gmail.com> 1583017851 -0800
committer Austin Schuh <austin.linux@gmail.com> 1583105605 -0800

Tune turret for real

Add in friction compensation and tune the controller a bit.  Fix a poor
velocity estimate.

Change-Id: I153b659bf92d5f34f0e8f59fda34e3c693e41d6a