Troubleshooting (CTRE)

Symptom	Likely Cause	Fix
Jittery motion	Wrong inversion / sign	Check InvertedValue and sensor phase
No movement	Soft limits active	Verify limits and target position
Sags / stalls	kG wrong / missing	Set GravityType and tune kG
Drifts at hold	Need I or higher kS	Adjust Slot0 gains
Follower desync	Not following leader	Ensure Follower request each loop