[x] line 70-72 in DriveTrain: move configClosedloopRamp lines out of the middle of the left and right config_k lines. It's in a confusing to read spot right now. Coder's discretion but should change.
[x] lines 80-83 in DriveTrain: why/how are these lines being used? comment as "test"
[x] lines 113-119 in DriveTrain: decide what .putNumber 's we want to keep