README.md

Falcon-Docs

Units to distance conversion

Convert 2000 RPM to units / 100ms.

2048 Units/Rev * 2000 RPM / 600 100ms/min 

in either direction: velocity setpoint is in units/100ms

Need Rev/Meter factor for gearing

PID FRC Good Practices

https://frc-pdr.readthedocs.io/en/latest/control/pid_control.html