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Jul 27th, 2015
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  1. Errors
  2. 1. Wrong gear
  3. 2. Encoder fail
  4. 3. Each motor in different gear
  5. 4. Twitching
  6. 5. Drives not straight
  7. 6. Pushing robot shifts
  8.  
  9. 1. Get encoder speed
  10. 2. Get current gear
  11. 3. If in high gear determine if we need to go into low gear
  12. Or if in low gear determine if we need to go into high gear
  13. 4. If joysticks are opposite then go to low gear.
  14. 5. If driver button is pressed then go into the gear that was pressed
  15. 6. If wheel are slipping then go into low gear
  16. 7. Shifting timeout for 0.5 sec
  17. 8. Driver feedback
  18. 9. Shift counter
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