Create tag following vision demo mode

[MichaelLesirge]

Vision

• Update AprilTags vision system to handle more flexible field tag layouts
• Allow for single tag following in a addition to global pose estimation
• Create simulated controllable tag for simulated tag following

Tag Following

• Create tag aiming mode (point at tag)
• Create tag following mode (drive to position that is
• Create "safety box," a simulated box that the robot most stay in when a tag follow command is active
• Added lots of filters for handling noise of AprilTag single target estimations

Constants / Flags

• Create isOnField flag to enable auto alignment and AprilTag on field localization
• Create isDemoMode flag to enable the tag following command buttons and enforce a speed cap

LED

• LED system no longer has significant delay in switching to new requested color.
• LED system to use Enum for colors
• LED system now uses IO layers to stay consistent with rest of codebase

Also

• Fix the hang subsystem
• Minor README content changes
• Fix heading display for new dashboard version

[AceiusRedshift]

I would have put these filters in utils/ but since they're only used for this demo its fine

[AceiusRedshift]

Let's get that bread