Fixes odometry drift
Revert "Fixes odometry drift"

This reverts commit 580c98aefa1d484daa41f9ffa048871453b0ebbe.
Revert "Fixes a motion bug, adds a temp change for testing"

This reverts commit 87ef9864c369a590b40567081fc5811d6b5b29d7.
Revert "Changes motion to do local odometry-based navigation (still testing)"

This reverts commit 7bd2273159eca0e320e880d26adb7cd04448197a.
Tunes down motion gains