added a diagrams folder - mapping out some motion control stuff
moved MotionConstraints class to its own files
more diagramming
added pivot command.  #61

doesnt quite work yet though...
tuning
added TuneFacing play
added some sweet comet trails behined the bots in the gui
added config value for pos pid windup
tuning motion control params
pid stuff, configs, gui tweak
tuning angle control

note: the units make absolutely no sense (theyre not degrees or radians)
tuned and fixed a bunch of things