Fixes the display of the encoder rates, to exclude really high values. Makes it so when you are flicking the wheels are all always at full (this makes sure we have full torque). Bang-Bang with increased low end values seems to work very well, so instead of 0 and 1 we are using .4 and 1 and even .7 and 1 on the rear motor. We are getting relatively consistent strait shots from this. We may not need PID.