[dm0ney]

We used the 'kit' pid code for the first regional. Since then, we have migrated back to pid code written last year by our team. The switch is very easy as we have macroed 'KIT_PID.'

We only used the position loop during autonomous and we also split gains and max/min for rotate and drive.

The pid code was quite easy to tune for linear distances but until we split gains, we had a heck of a time getting spins with the same gains.

The reason we abandoned the kit pid code was eventually a robot will not drive straight (assuming it drove straight to begin with). Last year we had implemented 'go straight' code that would compensate for mechanical imperfections by engaging encoder counts and running it through pid. We tried implementing this into the new code but decided that since we already had code that works, it wasnt worth rewriting it and inserted the macros instead.