Clean up for final stretch

[BruceMcRooster]

Two branches are running right now, easy-fying and arm-subsystem. arm-subsystem is essential to a functioning robot, and easy-fying is very helpful in making code easier to write and better structured. The two must be brought together to continue with the final robot code.

Musts

• Merge both branches (and move the code around to make them work)
• Test and edit underlying systems to make them functional

Niceties

• Clean up the code styles. Hungarian notation is scattered about because of copying from the Rev-Ion library, while everything else does not use this convention

We should have this done as soon as possible. Cleaning up the code can be an ongoing effort, but the longer we wait before we are ready with cleanup, the more complex the merge with other changes.

EDIT: Bulgarian fixed as Hungarian, thanks to @LeBigCronch here

[LeBigCronch]

Bulgarian notation is scattered about just looked it up, it's hungarian not bulgarian