Power management doesn't account for historical data

[edelmanjm]

As of now, power management only considers the current tick while calculating how much to scale the power by. Using a PID (with probably a fairly hefty feed forward) seems like the correct solution.

• Value: pdp.getTotalCurrent()
• Setpoint: currentTarget
• Multiply output by each motor?

[RobinsonZ]

For possible reference, the CTRE Software Reference Manual contains an example of tuning a current-based PID in section 12.3. It's a) in LabVIEW and b) obviously for a single motor but may provide some help.

[edelmanjm]

@RobinsonZ 👌 For now I'm leaving this though, motion profiling is probably a bigger priority.