PID tunning needed for magni robot

[JanezCim]

Someone should take a magni robot and tune the PID motor node parameters found in base.yaml. Currently we it is drivable but it could be better

[cst0]

For what it's worth-- I found that adjusting the P value to 15000, I to 0, and D to -30 was fairly stable and effectively eliminated the PID backlash that I was observing with the default PID values.