OpenServoCore - Cascaded PID Loop Working

Finally got cascaded PID stable. Overshoot down from 15% to 2%, settling time 120ms.

Gains:

• Outer loop (position): Kp=2.5, Ki=0.1, Kd=0.8
• Inner loop (velocity): Kp=1.2, Ki=0.05, Kd=0.3

Current sensing working. Drawing ~800mA at stall. Need heatsink for FET.

Next: Test bus comms (RS-485) with daisy-chained servos.