added I term to current control, had weird issues with battery #4 where the current reading dops down to 26 for some reason. After this happens, unloaded voltage on bat (through multimeter) reads >6, even though it seemed discharged before. I am doubting it was fully discharged, maybe the 5 minutes actually forced too much current in?
made some fixes to robot debug. Also added the current regulation to Charging.c, which seems to work!
BRANCH autonomous_recharging branch created
I think I sort of merged in the auto echarge daughter board code