Use separate classes for sim/real instead of using branches

[virtuald]

For example in Falcon:

    def neutralOutput(self) -> None:
        if RobotBase.isReal():
            self.motor.neutralOutput()
        else:
            self.setSpeed(0)

Function calls in python are relatively expensive compared to other code execution, so prefer to lift them out so that they're executed less frequently (or only once if their output isn't going to change, such as the case here):

    if RobotBase.isReal():
        def neutralOutput(self) -> None:
            self.motor.neutralOutput()
    else:
        def neutralOutput(self) -> None:
            self.setSpeed(0)

Alternatively, use completely different classes:

if RobotBase.isReal():
    class Falcon:

        ...

        def neutralOutput(self) -> None:
            self.motor.neutralOutput()
else:

    class Falcon:

        ...

        def neutralOutput(self) -> None:
            self.setSpeed(0)

[lmaxwell24]

Resolved with #88