Improve autonomous, add new utils, reorganize project

[grantpauker]

• Implement Hermite splines to create paths
• Add example paths
• Implement pure pursuit for path following
• Create commands for the new autonomous path following
• Add support for simulation and its physics
• Add a new units conversion util
• Add a framework for sensor calibration
• Add continuous PID option
• Create a joystick wrapper
• Reorganize folders.