Swerve VI based on the 2011 paper & excel by Ether

[jman4747]

Thank you Ether. I updated it as shown. It's outputs are concurrent with those of the spreadsheet. However now adding a gyro angle seems to produce incorrect values. I would expect gyro angle 180 and FWD +1 (STR and RCW are 0) to produce a wheel angle of 180 not 126.76. I would also expect gyro angle of 179 to produce something close to that instead of -175.94 for wheel angles if this LabVIEW implementation were correct.

Also the values are computed in order, that is to say that if D is equal to C*Pi and C = A*B it will wait to get A & B compute C, compute C*Pi then give D. Nothing happens with D until everything it is dependant on happens. Or that's what I observed at least.