Calibrate Glitch's DriveTrain

[phurley]

• Get Max Low Gear Speed
• Get Max High Gear Speed
• Set PIDF
• Determine what artificial cap will be placed on MaxSpeed
• Graph velocity/acceleration curves
• Determine upshift velocity
• Determine downshift coast velocity

[phurley]

Largely done. Will need to be tweaked when we have the final weighted version of the robot