[mathking]

To the discussion of trade-offs between the benefits of unit checking versus adding to the complexity of the code I will add that making the code harder to read has a very serious downside for FRC that does not exist in some other applications. Namely that FRC code often needs to be very quickly modified and tested between rounds. Adding to the difficulty of reading the code can be a real problem. We have generally tried to include sensor calibration information in the comments for each method.