pid tuning + finding some problems! found some issues in the code varriable defenitions that did not relate to the actual robot, ex some pins were switched that made modules steer backwards rather than the direction intended, mod 3 displacement was wrong. still some issues, like modules 4 and 3 are pretty tense, will have to open them up and see if anythings wrong. probably going to start pcb design about now anyway because I think the code is fine, and I need 20 hours in time to buy a ticket to polaris. anyway super super tired, havent slept in 20 hours :’-)