Climber PID magik

[WAaron-500]

No description provided.

[hadley31]

Here are some ideas I have:

1. Introduce a boolean method in climber which returns if pid is at setpoint.
2. Climber position PID commands - isFinished should return whether the controller is at the setpoint. Or possibly have a boolean option to immediately finish or wait.
3. Revert to individual climber subsystem modules (I can elaborate on this later)
4. Is the PID slots so that we can use different instances? Like have a pid for velocity and one for position? If so, we should use slot 1 for position

[WAaron-500]

Alright Nick I have Implemented 1 and 2 without problems, I think and in doing so I think I may have found something that could have done a real bad, but I think I fixed it... had to do with something not stopping when its supposed to.

NVM I FOUND IT TURNS OUT THERE IS A SUBTLE DIFFERENCE BETWEEN WHAT I WAS REFERING TO 4 being pushed soon