PID Tuning (overshoots)

The gain is really really reaalllly high :P
Revert "PID Tuning (overshoots)"

This reverts commit 13719bd74933c006a8995cda8fdaee9b04da4638.
Merge branch 'swerve-drive' of https://github.com/OlyCow/FTC_2013-2014 into swerve-drive