From 9911b707aa0dc1fab51ca79fb0d46bb3bdd170d3 Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Wed, 1 Apr 2026 16:51:32 -0500
Subject: [PATCH 1/2] use velocity sign instead of closed loop sign for motion
 magic position control

---
 src/main/resources/yaml/ztldr.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index 30b4357c..f46f0c2d 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -261,7 +261,6 @@ subsystems:
                     slot0:
                         kS: 0.8
                         kP: 100
-                        staticFeedforwardSign: UseClosedLoopSign
                 motionMagic:
                     expoKV: 1
                     expoKA: 0.3
@@ -274,7 +273,6 @@ subsystems:
                         kS: 0.1 # static friction - increase if turret won't move at small errors
                         kP: 4 # position error gain - increase if still lagging, decrease if oscillating at setpoint
                         kD: 0.28 # damping - increase if oscillating, keep roughly kP/20
-                        staticFeedforwardSign: UseClosedLoopSign
                 motionMagic:
                     expoKV: 0.04 #0.10 # cruise speed - lower = faster moves, higher = slower. Start here, decrease if turret feels sluggish
                     expoKA: 0.1 #0.2 # acceleration smoothness - increase if dead zone reversals are too violent, decrease if turret feels mushy

From 44f92b85d7deab4349959e42862189b7ff2d814c Mon Sep 17 00:00:00 2001
From: henrymilbert <110063972+henrymilbert@users.noreply.github.com>
Date: Wed, 1 Apr 2026 16:55:14 -0500
Subject: [PATCH 2/2] also make flipper use velocity sign

---
 src/main/resources/yaml/ztldr.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/resources/yaml/ztldr.yml b/src/main/resources/yaml/ztldr.yml
index f46f0c2d..8d9f888a 100644
--- a/src/main/resources/yaml/ztldr.yml
+++ b/src/main/resources/yaml/ztldr.yml
@@ -195,7 +195,6 @@ subsystems:
                     slot0:
                         kS: 0.3 # static friction - increase if stalling near setpoint
                         kP: 50 # position error gain - increase if not reaching target, decrease if oscillating
-                        staticFeedforwardSign: UseClosedLoopSign
                 motionMagic:
                     expoKV: 10 # cruise speed - lower = faster, higher = slower
                     expoKA: 5.0 # acceleration smoothness - higher = gentler ramp, lower = snappier