prog694/joebot — comment on commit 3f6c373d66bfdd4d9853476b02d93ce334d8d0ef
File:  line 0
By blakeelias:

[AHHAHAHAHAHAHHAHA okay!](http://www.youtube.com/watch?feature=player_detailpage&v=noTbPFoTRjY#t=1m43s)

AKA fine -- whether it oscillates at 0 doesn't really matter. The point here is that we should operate our flywheel controllers in coast mode not brake mode, so that we might use a bit less power when coming back up to speed. If we can do that without changing any code that's even better.

I don't think it will change the tuning at all because brake/coast only applies to a 0-setpoint. When going to any nonzero setpoint the PID loop will always calculate some nonzero output (except in the rare / impossible case that the error is always 0), and that output will be sent to the motor. The only time brake/coast makes a difference is when we tell it to come to a complete stop, where coast makes that happen slower.