feat: ValorControllers

[mray190]

ValorController is an abstract class that has 2 implementations:

• ValorNeoController
• ValorFalconController

Each controller houses the logic required to drive either a falcon or a neo. This is useful as we forgot to call specific functions in different subsystems that are associated with those motors in the past.

For example, setting up voltage compensation will be set for every motor now by default if you use a ValorController implementation (you still have the option of turning it off though if you desire!)

Instead, all of the logic is the same for each motor but can be modified if need be. There are getters and setters for the important functions for the motors.

Another thing to note is that since ValorController is an abstract class, the implementations share the exact same function calls. Using either class, you won't have to worry about which motor is under the hood since the calls all look the same.

Most importantly, this synchronizes the units of the motors. The falcon and neo both use different units at the base level. This ValorController class now makes sure that to Valor students, both have the same units. Conversion factors can be used to change them (if degrees are needed instead of inches or meters)

[mray190]

Notes for how to read this code change:

1. Start with the header files. Specifically, go through the header files in the following order:
   1. ValorController.h
   2. ValorNeoController.h
   3. ValorFalconController.h
2. Then review the implementation of each controller:
   1. ValorNeoController.cpp
   2. ValorFalconController.cpp
3. Finally review the usage by going through the subsystems and seeing how those controllers were used

[AntarcticaByToto]

TODO
-valor falcon controller -> verify unit conversion for encoders (constructor)
-set limits -> add function to set forward and reverse independently
-how to change pidf slot on neo
-check waht setRange does
-implement getCurrent function (not done yet)