Wpi testing

[BrownGenius]

These are the changes we made at WPI. This code needs to be cleaned up prior to a push to main, but creating a PR to document the changes.

[loafdog]

Suggested changes to add gripper to shuffleboard here: https://github.com/BHSRobotix/ChargedUp2023/tree/gripper_shuffleboard I created the gripper_shuffleboard branch off of this one. I did not create a PR because not sure how/when to review it. We can:

• create PR against this branch, review, and end up merging to this branch, and then merge this branch to main
• wait on creating PR/review until after this branch is merged to main
• ignore the branch if we do not want the changes to shuffleboard at all.

[BrownGenius]

@loafdog I'm going to add the javadocs that Parker requested. I can pull in your branch to this and review it all together.