Geartooth encoder now uses Kalman filter rather than rolling average filter ; retuned shooter PID loop with new RPM filter ; fixed dt multiplication in PIDController.cpp and changed line endings to unix ; disabled wheel PID loops for now and retuned them on the ground with modified PID controller class ; removed obsolete expressions for m_rate in 'Step 1' of GyroFilter::calcAngle() ; removed commented-out PID constant storage attempt ; fixed bug from wheel PID loops not feeding the motor safety helper