having issues, thinking of giving up on velocity thing
control law for speed starting to work.WARNING: can't use delay_ms with encoders_init
added a comment
it basically works! It calibrates the motors then drives in a mostly straight line
fixed lost of bugs in the libraries for spi and encoder
encoders.c works! there is a ton of debug output but I want to get the commit in before I am to tired and do something dumb.
added another function pointer to encoders which gets called after all bytes are recv'd.working on a behavior to drive in a straight line, but encoders are giving invalid on robot 5