added code for tracking

- TODO not quite working, but need to rollback for testing hardware
problem
Revert "added code for tracking"

This reverts commit a8b642655c78b80099eff4feab65b6ad1cf15ef9.
Revert "Revert "added code for tracking""

This reverts commit 2de40a8596156297b5a0234770f3b3e6625dfe2f.
tax day commit pre-work

too long without a commit:
- constants updates after tacoma testing
- few renaming of methods and classes to make them more understandable
- also moved numberous commands to new packages for easier finding
- added movesmoothforxamount, still no chance to test it out.  TODO:
test movesmoothforxamount
- lots of tuning on the shoot and load commands, probably more to come
- lots of tuning for autonomous, with more to come
tax day commit pre-work con'd

see previous description