Bug/we hate quadrant 3

[ssejrog]

Summary:

Using current x + current y as a "current sensor value" for xyPID made it look like the robot wasn't moving sometimes when that would equal close to 0. This is fixed now by translating the current robots position around origin so it's on the y axis, and using how much the robot is moving to create a new current sensor value.

Another option for solving this was to make the current sensor value negative error, but this would cause derivative kick. The solution described above shouldn't give derivative kick.

Motivation:

Some motions couldn't settle because D was being handled incorrectly.

References (optional):

#191

Test Plan:

Run the motions in #191 and ensure they all perform as expected

• test item

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