Parse hw_button field from system state in PlotSample.
Fix sign error in fork offset of robot bicycle parameters.
Added a check executable to compare physical parameters.
Plot open loop plant eigenvalues vs. speed.
Remove old code and add Mont's comments on Q & R selection.
Add lean fields to PlotSample.

Add fields lean_accel, lean_gyro which are estimates of lean angle using
accelerometer, gyroscope measurements respectively. For the
accelerometer calculations, this assumes the system is static.
Change rear motor peak current limit to 24.0A.

This required a change to the firmware settings of the ADP-090-36. The previous
configuration had a peak current of 18.0A while our firmware was operating with
the assumption that the peak current was 12.0A. This discrepancy means that all
of our current calculations were incorrectly scaled.
Change control threshold speed to delay by N samples.

Previous to this commit, there were two threshold speeds that needed to be
specified: estimation threshold speed and control threshold speed. After this
commit, control will turn on a fixed number of samples after estimation has
begun. The default for this is 10 samples, or 50ms.  The rationale for this is
that our estimator converges so rapidly that we can basically think of just one
speed now: the speed at which we want estimation and control to begin.
Merge remote-tracking branch 'oliverlee/fullorderobs' into full_order_observer