Moved PID stuff to Chassis file.
Updated encoders for straight line speed.
Updated PID, Work in progress.
re-created the pimp rolling code -Lucien
renamed the member function to spinChopsticks
added in the chopsticks move up and down commands
added in the commands to allow vertical movement in the chopsticks
created the passball command and added in a third limit switch
finished the gyro
Created the Beagle Bone Subsystem