Implemented and tested setting Kp/Kd (NOTE: These are fixed point numbers when sent of COM, factored by a value of 1000, but the end user doesn't see that). Implemented everything for setting reference, except for the GUI buttons.
Change slider for Kp/Kd to be +/- 15 and the step size to be smaller, implemented reference buttons.
Change encoding for reference to be from 1/1000 to 1/1.
Changed to explicitly state variables as float or int (and some other debugging stuff).