Important! Shooter and Yoke PID + Logic

[KenwoodFox]

Yoke needs a lot of fixups, this issue is divided into these tasks:

• Fix PID and methods for controlling shooter + aux yoke angle
• Implement better controls for shooter and how it should drive. (This will take some brainstorming)
• Shooter Velocity Control #55
• At some point we need to make a sort of lookup table or database for shooter modling, altnerativlty use a purely mathmatical model, asking around w other teams, it seems they tend to use lookup tables more often so exploring this could be worthwile.

[KenwoodFox]

For task 4, python curve-fitting may be a good strat, and load values from a json?

[KenwoodFox]

a low.json and high.json could store values for shooter angle, and shooter velocity vs distance from target (as returned by the ll)

[KenwoodFox]