Beginning Catapult Implementation

Modified Robotmap, Chassis, and Commandbase to include the input for a
catapult. Also created Commands MoveCatapult for the actual movement of
the catapult. There hasn't been a catapult actually built onto the
robot, just creating a basic framework for when there is one.
Created baseline code

EncoderRobotDrive
PID work in progress
Winch Catapult Outline Progress

Changed MoveCatapult to just mean the winch (winding of catapult);
releasing and locking will be done in another command probably. Renamed
arm to winch. New encoder and constants for winch motor.
Added PID
Adding PID for distance

Not working for some reason.
Position PID working

Working...
PID for Position/Rotation

position works only backward.
rotation works both ways.
PID parameters are not tuned/hardcoded.
PID parameters must all be negative.
Working PID for Position/Rotation

position works backward, not forward.
rotation works both ways.
tuned pid parameters are not stored.
functional and quick PID for position/rotation

PID Tuning:

If   Pulses/Distance = 3000
Then 1 UNIT = 8.64 feet.
= (3000/360)

For PID Rotate:
P = -7.00
I = 0.0
D = 0.0

For PID Straight:
P = -3000
I = 0.0
D = 0.0

For Chassis PID, BOTH SIDES:
P = 0.0
I = 1000.0
D = 0.0
Cleaned up code
added MoveTo code

in order to make this work, change the drivestraight and rotate commands
so that their isFinished methods actually work.
Fixed + Add

Added min. velocity to DriveStraight, similar to Rotate.
Fixed compile issues
Optimized Rotate; Support finalAngle in MoveTo.
Deleted objects when Rotate is over.
Added second part of catapult

Added second part of catapult (ShootCatapult) and modified MoveCatapult
to fit better. Added more skeleton code and changed things to fit to
each other. Created new subsystem of shooter to handle shooting
mechanisms.
disregard this commit.
Revert "disregard this commit."

This reverts commit b370327afa50ba404f7079e1d613e3917d4ca9bd.
Finished general outline of catapult

Right now, there's a general outline for a shooting mechanism and the
movement of it. Changed Trigger into Solenoid. Transferred MoveCatapult
to Shooter subsystem. I'll probably work on a new ball intake subsystem
Started Intake Mechanism Subsystem

Created new Intake Subsystem and modified files accordingly.