Drivetrain code

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Drive train code for 2014 robot.

Consider options for feedback-based control.

Make sure drive train code is set up to easily allow for autonomous code-based 
driving in addition to operator-based driving.

Original issue reported on code.google.com by jtec...@gmail.com on 12 Jan 2014 at 1:40

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We've considered using feedback-based control for the drive train.  Both speed 
control and position control have been considered.  I would recommend devising 
a way to implement multiple driving modes, such as position control, speed 
control, and direct control; and have all modes available to the driver, 
without updating the code, so that drivers can evaluate which mode they like 
best.  Ultimately the unused alternatives will likely be removed, leaving only 
the desired mode.

This could probably be implemented simply by creating a separate Command for 
each mode, and using perhaps a joystick button to activate the appropriate 
Command.

Original comment by jtec...@gmail.com on 13 Jan 2014 at 3:06

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Original comment by jarr...@corr.org on 25 Jan 2014 at 10:50

• Changed state: Verified

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Original comment by jarr...@corr.org on 29 Jan 2014 at 2:18

• Changed state: Fixed

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Still working on the position and speed feedback control.

Original comment by jarr...@corr.org on 29 Jan 2014 at 2:27

• Changed state: Started

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Need to add a low power mode for Chris.

Original comment by jarr...@corr.org on 26 Feb 2014 at 2:40