No more pod reset+added more comments.

yay.
Updated some comments and un-reversed stuff.
Un-reversed some more! Also, separate PIDs.

Separate PID constants, that is.
Implemented kI + rough PID tuning

Pretty good, I'd say.
Added a "D" term to PID

Also added a compensation on the motors for the servos turning. (Not
tested; need to go offline for that.)
Fiddled around with TServoIndex, didn't work
The most satisfaction in deleting one line

YESSSSSSSSS
Removed motor/servo compensation (needs PID)
Merge pull request #33 from OlyCow/swerve-drive

Release commit (polishing).