paper: Take-Back-Half Shooter Wheel Speed Control

[tr6scott]

Thanks John, I see the stop button now, not used to seeing that done. I did just take out the while loop, and rewired it all with the "normal" feed back loops, and even after the "broom of death" the code was pretty much un-readable. I see the reason for the one iteration loop, it made the code pretty.

As to the other question, what happens to the control if there isn't a consistent time between teleop iterations.

Scott.