Move Yaw from Thruster to PIDController

[TJonesy]

Implementation Issue

The Yaw functionaliy is currently in the Thruster however it should be irrelevant to the Thruster. It needs to be moved into the PIDController so they are no longer codependent.

Context

ThrusterController and PIDController

Expected result

The ThrusterController should be independent of the PIDController

Requirements

The 2 controllers need updated and also the JS that utilizes the yaw functionality will need to be updated.