Improve brownout situation

[aidnem]

We were experiencing brownouts at the end of most of our matches yesterday. It was especially bad when we were running the intake rollers, shooter flywheels, or both.

We should try:

• lowering current limits on drive and shooter
• Reducing PID gains on the shooter so that it doesn't oscillate around the goal velocity and waste a ton of energy
• Checking out whether intake rollers are oscillating around goal velocity and wasting energy

[aidnem]

Update 2026-3-19: I just tested a supply current limit of 40 amps on the drivetrain. It felt slightly less snappy, but not super slow by any means. I've requested that we try a lower gearing which will give us more acceleration but lower topspeed, since, according to logs, we never really got up to our top speed anyway. This will hopefully give us the best of both worlds: high acceleration, snappy response, but low current draw.