Optimize Choreo settings

[nlaverdure]

Seek to:

• Minimize error at the end of path following
• Minimize total drive time

Knobs to turn:

• Measure the robot's physical characteristics (mass, MOI, etc)
• Get empirical measurement of "wheel radius" (don't think of this as a wheel radius, instead it's how far the robot actually travels in meters, per rotation of the wheel in radians)