Merge pull request #17 from FRC125/DriveTrain

Merge DriveTrain Code into Master
Tweaks for Joe's preferences: Reversed steering while in reverse. Untested so far
Created a VelocityEncoder class that wraps Encoder and overrides getPID such that it returns the rate rather than position.

Modified driveLR to use the PID controllers

Added in DRIVE_K* constants into the RobotMap.

TODO: Extract PID constants into either smartdashboard or look into other options for tuning these without full recompiles
Added Drive Kp to SmartDashboard
Added outline for autonomous mode. Still needs testing and changes.
Added auto for one and two ball. Both commands still need to be implemented. Waiting for encoders and ultrasonic sensor for drive distance. Currently this branch has the only correct wirings for motors.
Added P controller for drive distance autonomous. Needs testing.
Changed drives to 1,2,3,4,5,6
Fixed P controller for drive and added vacuum
Fixed delays
Fixed autochooser and switched to driving time instead of distance.
Tweaking auto
Merged autonomous into WinchSensor.
Fixed drivetrain and changed the robot Map
Ditto
Merged PIDDrive to start tuning. Fixed merge conflicts.