create a robot control class

[cbastarache]

A better way to control the robot's drive is to use a PID controller to have the wheels meet a target velocity. Create a class that:

• has the motors defined in it
• has a set velocity method
  • this method uses PID and encoders to make sure the wheel actually does the commanded velocity
• defines the shifter if it exists and is able to shift gears automatically based on speed
• knows the top speed of the robot and gear ratios to calculate real speeds not just encoder speeds

[cbastarache]

maybe @noahlinton and @benjittk can work on this together. see if you can design a class from scratch!

[cbastarache]

i think this can be two classes. The basic motioncontrol class that noah started can be for one motor, and then a child class can inherit that to make a robotcontrol class that would have 4 motors instead of one