stepper

[Armandpl]

• get rid of coil whine
• make sure discontinuity in angle measures doesn't mess up speed filter
  • run latest model and take a look at the mcap logs -> speed error? lag?
• knock pendulum over on reset, in case it got stuck
• flatten directory structure, configs
• more eval metrics: pct time above midline, max speed, count revolutions, max act
• count incremental pos with abs encoder, enforce limits
• make robot sound less annoying:
  • increase power limit + decrease top speed further -> skip less steps
• when resetting the killswitch often the motor doesn't get current, is this something related to the driver?
• can we auto find which usb device is the robot?
• should run some sanity check on the angles + motor at the start of every training run