[🐛BUG]ARC PID Doesn't Work: Convert to Velocity Controller?

[Jackman3323]

Describe the bug
Robots don't like to travel in perfect circular arcs. @AndrewLuGit thinks it could be made worse because we're driving by voltage not by velocity. The thought is, if we controlled motors by velocity we might be able to achieve the circular path more consistently.

To Reproduce
Try to use arc PID

Expected behavior
Expected controller to make the robot go where we wanted it to go.

[Jackman3323]

Could be fixed by #111