Merge pull request #19 from toastertaster/master

Many changes from debugging on 2/19
Correcting limit switches to take inverses of values, since they are normally true
Added limit switch check
Removed pusher checks for nonexistent switches
Now takes inverse of X axis to correct for turning wrong direction
Added debugging messages and moved drivetrain initialization to before pusher so it doesn't throw a null pointer when pusher tries to call an uninitialized drivetrain
Added encoder scaling value so it doesn't jump between the value and double, changed name of pusher sensor to armsHome for the updated sensor positions, updated PID constant values, and updated max RPM to a rough estimate of the shooter wheel's max
Increased reloader speed to avoid jamming issues
Changed to work with the new PIDVelocity controllers and commands, so that it doesn't kick the motor into reverse if it goes too fast and instead lets it coast to a slower speed
Updated PIDshoot to new constructor without parameters, and added debugging to getAdjustedThrottle. Also changed getAdjustedThrottle to have a 1- the mapped value, since the throttle moves the opposite direction from top to bottom
Added debugging messages