Update WPILib, Fix drive train math (hopefully), and Code cleanup #1
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This ended up being a bigger pr than I thought it would be.
Main changes
Changed a lot of the drive train code, so we need to validate it is correct with the robot on blocks before we begin driving. Hopefully these changes make the robot a lot easier to drive.
Possible remaining issues:
navx was mounted inverted last season and the gyro is still inverted in the code. this will cause the field oriented control to be applied backward and also likely odometry problems as well.