Fix Motion Profiling for Auto

[kreeve]

We shouldn't be using dead reckoning (drive for X seconds) for auto. I know we've been using it and it's worked okay but we can do better.

Last time we tried it during unbag the robot started turning. We should plan to test this in the pits first on Wednesday of CMP with wheels off the ground. That way we can fix the directions if there's an issue.

Here's a rough plan we should follow:

1. Branch off the latest working code.
2. In this branch, create a couple "Drive X feet" autos to test with
3. Change ALL our auto moves to use profiling instead of time. We can do this on a third branch if we really want to be safe.
4. On Wednesday in the pit, test a few of the test autos with wheels OFF the ground.
5. Once we get the wheels spinning the right way, go to practice field and run these test autos.
6. If we get everything tuned, merge in the branch where all the autos use motion profiling.

[camilo86]

I'm starting to believe that the left drivetrain got inverted in one of the git merges