Drive PID Auto Tuner

[CodingPotatoes]

Description
AutoTuner for DrivePID with a WIP AutoTuner for TurnPID

Usage

How to use this feature:
Create a Tuner Config and pass it to a AutoTuningTools, then run the appropriate void method on a buton press

// A code sample for how to use the feature
in opcontrol:
static DriveTuningConfig tuningConfig{
        .startspeed = 0.5
    ,.endspeed = 0
    ,.dir = vex::forward
    ,.distance = 24
    ,.pidConfig = &drive_pid_cfg
    ,.right_motors = &right_motors
    ,.odom = odom
    };
    static AutoTuningTools autoTuner(&driveSus, tuningConfig);
    con.ButtonX.pressed([](){
        autoTuner.TuneDrivePID();
    });
    con.ButtonB.pressed([](){
        autoTuner.driveWithError();
});

make sure the robot has a little more than enough (roughly 1.2x) distance to reach the target distance for the tuner
Testing

Many attempts run on the software bot to get the correct max p and period of oscillation needed to get the PID values using the Zeigler-Nichols Method

References
https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method