Added x / y velocity calculations.
Merge branch 'master' of github.com:garrettvparrish/OttoPieneRobotControls
Merge branch 'master' of github.com:garrettvparrish/OttoPieneRobotControls
Merge branch 'master' of github.com:garrettvparrish/OttoPieneRobotControls
Merge branch 'master' of github.com:garrettvparrish/OttoPieneRobotControls