Simulation Only PID + FeedForward

Simulation is not exactly 1:1 to the real robot, no matter how much we wish it was. Therefore it is useful to setup a sim-only PID and FF value that will mimic the robot fairly well.

Configuring this in YAMS

SmartMotorControllerConfig smcConfig = new SmartMotorControllerConfig(this)
  .withControlMode(ControlMode.CLOSED_LOOP)
  // Feedback Constants (PID Constants)
  .withClosedLoopController(50, 0, 0, DegreesPerSecond.of(90), DegreesPerSecondPerSecond.of(45))
  .withSimClosedLoopController(50, 0, 0, DegreesPerSecond.of(90), DegreesPerSecondPerSecond.of(45))