PID Setting Function

[theVerySharpFlat]

Currently we set PID constants on motor controllers using class-specific structs in their constructors such as

https://github.com/rambunction4330/librmb/blob/fa88a2271c1595d770312ef8158c5ee46ec20940/src/rmb/motorcontrol/falcon/FalconPositionController.h#L30-L38

However, we want to have a unified method of setting PID constants across all motorcontrollers.

To do this, you will have to

• [x] #41
• [x] Create virtual functions in the base classes to set the PID values on the motorcontrollers
• [x] Extract the parts of the constructors where the PID values are set and put it in functions that override the base class virtual functions
• [x] Call the new functions in the constructor in place of the code that you transferred into the new PID setting function

You should start this work on a git branch called "feature/PIDFunction" and create a pull request on GitHub when you finish.

[sullivanlm]

https://github.com/rambunction4330/librmb/blob/caad1081f54e6d7262d0f61418e652a70332c6e4/src/rmb/motorcontrol/Conversions.cpp#L50C20-L50C20

In the AngularAsLinearVelocity/PositionController, when I implement the setPIDConstant function, it doesn't recognize PIDConfig on its own but needs to reset in the implementation. Rather than having: void setPIDConstant(config) {} I wrote it as: void setPIDConstants(AngularVelocityController::PIDConfig config) {}

I'm not sure if this is an issue or not but this didn't come up in the LinearAsAngularVelocity/PositionControllers