Gain scheduling for PIDController

[amikhalev]

There are a few scenarios where we may want to change gains on the PIDController:

• For drive, we may eventually want different PID values (and others like maxIError or minISetpoint) for Teleop and Auto. So there needs to be a way to manually change the values.
• We may want to be able to change PID values for different errors, for example with DriveRotate. We may want to rotate at a certain speed when we are far away as opposed to when we are close. It may be beneficial to have default values, and then overrides which are applied at each error/setpoint threshold.