Revert Zach O's changes to simplemovement

What even was this, distance and seconds will always be positive. That is
in the definition of time and distance, they can not be negative.
Fixed encoder settings for floor tiles

I also made them all floats to be more accurate.
Made encoders.c work with floats

Now all of the changes to floats will actually make a difference.
WE ARE NEVER GOING TO HAVE NO MOTORS!!!

Why did we ever add this to movement, it is pointless.
WHAT IS THIS?

pls Zach O. We do not need to multiply everything by their sign.
The PID now works

Don't use the PID on swing turns, it has not been tested. You should see
how straight the forward movement is now.
This was the file I used for testing the PID

It is not very remarkable.
We still need to test the driving encoder value

Did some light sensor testing. Lots of difficulties.