Control refactoring clean#176

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leBronzo1 wants to merge 8 commits intomainfrom

control-refactoring-clean

Commits on Feb 4, 2026

Fix PID memory leaks - preserve controller state between loops
leBronzo1
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YawController refactor - commented to make it clear what everything does might add enums later to make it more straighforward
leBronzo1
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FlywheelController - Seperated back to one variable on pid_low
leBronzo1
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Commits on Feb 11, 2026

XDrivePositionController Refactored - Unrolled First loop and added much needed comments
leBronzo1
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