<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<group_gains>
  <control_strategy>4</control_strategy>
  <position>
    <kp>50</kp>
    <ki>0</ki>
    <kd>0</kd>
    <feed_forward>0</feed_forward>
    <dead_zone>0</dead_zone>
    <i_clamp>1</i_clamp>
    <punch>0</punch>
    <min_target>-inf</min_target>
    <max_target>inf</max_target>
    <target_lowpass>1</target_lowpass>
    <min_output>-80</min_output>
    <max_output>80</max_output>
    <output_lowpass>1</output_lowpass>
    <d_on_error>1</d_on_error>
  </position>
  <velocity>
    <kp>0.05</kp>
    <ki>0</ki>
    <kd>0</kd>
    <feed_forward>1</feed_forward>
    <dead_zone>0</dead_zone>
    <i_clamp>0.25</i_clamp>
    <punch>0</punch>
    <min_target>-7</min_target>
    <max_target>7</max_target>
    <target_lowpass>1</target_lowpass>
    <min_output>-1</min_output>
    <max_output>1</max_output>
    <output_lowpass>0.5</output_lowpass>
    <d_on_error>1</d_on_error>
  </velocity>
  <effort>
    <kp>0.05</kp>
    <ki>0</ki>
    <kd>0.0001</kd>
    <feed_forward>1</feed_forward>
    <dead_zone>0</dead_zone>
    <i_clamp>0.25</i_clamp>
    <punch>-0</punch>
    <min_target>-80</min_target>
    <max_target>80</max_target>
    <target_lowpass>1</target_lowpass>
    <min_output>-1</min_output>
    <max_output>1</max_output>
    <output_lowpass>0.5</output_lowpass>
    <d_on_error>0</d_on_error>
  </effort>
</group_gains>
