Added conversions abs_to_rel and rel_to_abs.
Also, added warnings after these conversions in the case that a requested speed has to be cropped.
Tested against a temporary behavior which set the speeds (now removed since it's very easy to write such a test behavior).
/** Error if which sets a motor to both forward and backward */
void check_which_ok(int which);
int trim_speed(std::string which_str, int speed);
float rel_to_abs(float rel_speed, int units);
float abs_to_rel(float abs_speed, int units);
Also available in: Unified diff