[FEATURE] Add motor slewing back in

[benjaminwp18]

We wrote a motor slewing/ramping branch at competition (smooth_thrusters), but it never got merged. Merge main into it and make any changes necessary. Would it be better to put the slewing in multiplexer.py where the throttling is, so it will apply to all control and not just the Xbox controller?

[InvincibleRMC]

@benjaminwp18 I thought the plan was to try #16 first?

[benjaminwp18]

It was, but our boy was browning out a lot yesterday, and I think it'd be good to get slewing in now so we know it still works, just in case Pixhawk stuff fails.

[InvincibleRMC]

It was, but our boy was browning out a lot yesterday, and I think it'd be good to get slewing in now so we know it still works, just in case Pixhawk stuff fails.

pilot skill issue.