Set up and tune Velocity controller

[Oluwatoni]

Similar to the velocity controller described here
Would better account for the dynamics of our vehicle

Acceptance Criteria
This runs on the arduino
Inputs

• Goal Velocity
• Current Velocity

Outputs

• Throttle

The performance criteria (i.e rise time, steady state error, etc) are up the assignee to select. They should be reasonable. A simulink based simulation is expected before full integration.