Automatically compensate for sensor delay in CTRE/REV onboard PID about frc-characterization

[pietroglyph]

We could add an input box for input lag to the analyzer. We should weigh the tradeoffs between configurability and the difficulty users have with more settings. I think adding another input probably isn’t an issue if we provide sane defaults.

[auscompgeek]

To make things more annoying, CTRE allow for configuring the velocity rolling average window.

[calcmogul]

This gives the same results as above, so we won't need the CARE.

        dt = 0.005
        delay = len(self.ubuf) * dt
        self.K = self.K @ np.linalg.matrix_power(
            self.sysd.A - self.sysd.B @ self.K, round(delay / dt)
        )