Closed Loop Turn by Angle

[koritzinsky]

Description of the story: Add the closed loop NavX so you can have the robot turn to a specific angle.
This will be used in autonomous mode and perhaps also in autonomous mode. There is sample code in gmail for navX turn by angle. It is important to know that the navX code is different PID methods than what you use for drive base. This is because the TalonSRX implements PID in the firmware, whereas the navX will do this in the WPILIB as software.

You will need to refer to the navX user guide (on line) to find out hints for tuning PID to initial values.

• Pull Request Required

Ready Criteria:

• Design Form Link
• What hardware is needed? navX board
  • Speed Controllers? no
  • Sensors? no
• What software is needed? drivebase and navX subsystem

Test Cases:

• Test Case 1: You can set an angle to 0
• Test Case 2: Robot will turn 90 from that angle without overshooting
  Test Case 3: Robot will turn back to 0
  Test Case 4: Robot will turn 180 degress

Done Criteria:

• Criteria 1: Tests pass
• Criteria 2: Code is reviewed and committed
• Criteria 3

Make sure this issue is associated with a Milestone!