Active brake uses PID class and doesn't reset drive sensors

[ssejrog]

Summary:

Active brake now uses pid class and doesn't reset drive sensors.

Motivation:

This will help debugging in opcontrol because drive sensors won't get reset constantly

References (optional):

Test Plan:

• ensure active brake works like normal
• ensure active brake works when enabling and disabling active brake

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• via PROS Integrated Terminal:

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pros c apply [email protected]+869d66;
rm [email protected]+869d66.zip;

[ssejrog]

Confirmed code works by running this in opcontrol, and flipping between auton and driver while active brake is enabled.

    if (master.get_digital_new_press(DIGITAL_L1)) {
      if (chassis.opcontrol_drive_activebrake_get() == 0.0)
        chassis.opcontrol_drive_activebrake_set(3.0);
      else
        chassis.opcontrol_drive_activebrake_set(0.0);
    }

    if (master.get_digital_new_press(DIGITAL_R1)) {
      chassis.drive_sensor_reset();
    }