pid tuning + debugging. i did some bug fixes with the kinematics code, such as fixing radians to angle conversion that i forgot to add, added a step that accounts from slight added drive speed from steering that happens in coaxial swerve drive, and spent 3 hours trying to fix my multiplexer only to realize i accidentially changed the adress. oops! then, I finally began tuning the pid loop, only to discover that turning is weak because the gears that are attached to the steer motors have bad grip on the shaft, because when I made them i forgot to add wiggle room, so during assembly i would sand the insides, making them too loose. so fixed that and reprinted, now in my next time log i will add the new gears and finish tuning the pid, if thats done then this projects time on stardance is complete! when i finish this project, I defenitley want to do some cool stuf with RFs. defo gonna do another project here on stardance.