text: '''
  # max accel: 1000000 pulses/s^2
  # max speed: 50000 pulses/s
  # 1/64 step
  # pos target: +/- 12800
  # 0.87s ttt (time to target) on pid_tuning.py
  # mv_enc_pos_test: ttt: 1s true: 0.4s
  # performance increase: 2.5x
  
  PID_P_GAIN = 2300000
  PID_I_GAIN = 0
  PID_D_GAIN = 0
  
  PID_TIME_SCALE_FACTOR = 0.01555
  '''
  # max accel: 1000000 pulses/s^2
  # max speed: 30000 pulses/s
  # 1/64 step
  
  PID_P_GAIN = 1070000
  PID_I_GAIN = 0
  PID_D_GAIN = 0 # 100000
  
  # PID_TIME_SCALE_FACTOR = 0.01555 # for 100 ticks (half rotation)
  PID_TIME_SCALE_FACTOR = 0.00725 # for 250 ticks 
  # PID_TIME_SCALE_FACTOR = 0.00615 # for 300 ticks
  # PID_TIME_SCALE_FACTOR = 0.00415 # for 500 ticks
  # PID_TIME_SCALE_FACTOR = 0.0035 # for 650 ticks
  
  # PID_P_GAIN = 5200000
  # PID_I_GAIN = 0
  # PID_D_GAIN = 0 # 100000
  