[F22Rapture]

First off, is speed control in teleop really useful? We've never used it, and we don't have a testing platform at the moment, so I can't hack an implementation to feel the difference.

Second, given that the answer to the previous question is "yes," how would you implement them both? I know there's been quite a bit of discussion about using velocity control with the Jaguars, but we're hoping to use Talons this year, so all of our control loops would have to be in the robot code.