Add limits to yaw rate, speed reference commands.

Limit commanded yaw rate between -2.0 to 2.0 rad/s. Limit commanded
speed to be withing valid range for fork controller gain schedule.
Fix GainSchedule static methods in input file.
Recover from I2C timeouts in data collection.

Restart I2C driver on RDY_TIMEOUT. Use last known valid imu data when
data acquisition fails.
Add data from experiment runs on 4 Oct.

Data from experimental runs taking places on the basketball courts in
the ARC Pavillion.
Add data from rear motor tests in lab.
Add motor test and run description notes.