Corrected configs, wrote park v2

Also added timestamp to default_config, updated configuration of
getGoal_Park, and created getGoal_Park2. Park 2 drives off the ramp,
grabs, drives straight back towards the ramp, turns 45 to face parking
zone, drives there, and reverses in.
Added encoder based grab functions

Renamed all of the old ones to have name_time format. These should work
as soon as we set values.
Added encoder functions to backboard

Same thing as grab.
Added guess values to settings

The up positions need to be one for nMotorEncoderTarget to work, zero
means run forever.
Added more reseting of encoders to initializeRobot

initializeRobot now resets the grab and backboard encoders too.
Corrected annoying spacing error
Wrote second encoder testing program for Kaneen

This one goes around the center goal.
Added PID

It isn't complete yet, but these functions are for a basic PID.
Implemented PID for swing

This should work
Updated all functions in PID

All of them will not exceed max speed, also updated swing to work, in
theory, for negative values
Added implementation for PID functions

simplemovement and encoders will use the PID.