Implement closed-loop totevator control.

[pordonj]

1. Get and report meaningful feedback from totevator encoder.
2. Determine method to reset encoder to 0 at home position.
3. Determine number of ticks per "level" i.e. "up one" or "down one"
4. Determine number of ticks for "drop"
5. Determine if PID is required or if the totevator will hold itself.
6. Implement auto-drop routine

[pordonj]

this is being worked on in the tote_encoder branch.

Progress:

Get and report meaningful feedback from totevator encoder. - Done
Determine method to reset encoder to 0 at home position. - Currently manual. Hall-effect planned.
Determine number of ticks per "level" i.e. "up one" or "down one" - Currently estimated at ~255
Determine number of ticks for "drop" - can use down/reset as drop. No custom value required.
Determine if PID is required or if the totevator will hold itself. - Not yet known
Implement auto-drop routine - Not yet implemented

[pordonj]

number of ticks is around 270, needs further experimentation tonight, We are sticking with PID through PIDSubsystem because of ease of programming. Need to tweak onTarget/constants tonight.