West Coast Drive Trajectories

[schineaj23]

For a THIRD time, attempt to get trajectories working on the west coast drive drive train, with the hope that we can use Path Weaver to build our autonomous profiles. Currently when attempting trajectories, the robot has undefined behavior each time it runs. As this is our third attempt, help wanted so that we don't make the same mistakes.

[schineaj23]

https://docs.wpilib.org/en/stable/docs/software/advanced-controls/trajectories/troubleshooting.html#
Looks like the gyro was reversed in direction, we need to switch it back

[schineaj23]

https://docs.wpilib.org/en/stable/docs/software/pathplanning/robot-characterization/characterization-routine.html#running-tests
Characterization was updated, so we will re-run it