My team is currently working this year on tuning our velocity pidf using the cantalons looping at 1ms. How do your teams tune this effectively as I have looked over the ctre electronics documentation but am unsure how to know when the pid is “optimized?” How can one tell if it is reasonable or not to expect the controller to handle 10 balls, 20 balls, 30 balls a second etc? Assuming your flywheel has a large mass and thus great inertia, do you think that the velocity control will be a limiting factor on balls/second this year for top teams or will balls/second only be limited by the speed of the hopper feed? I would love to hear how you guys are getting your pid tuned for as many ball/seconds as possible and thanks a bunch for the help.