Harden Code for Bridgewater

[motleymentor]

We have a competition this weekend. Let's go in with the hardest, robust code we can. Awwwww yyeeeaaahhhhh...

First, let's clean out the cobwebs from GitHub:

1. Clean out stale branches
2. Complete open pull requests
3. Tag code from Suffield Shakedown and eventually Bridgewater

Then, let's run through as much of the code as we can, eliminating all the errors and warnings that appear.

[motleymentor]

Other things we'll need to do before the competition:

• Verify the max speed set in DriveTrain.maxSpeed_inPs
• Report the PID or Linear drivetrain status to the DriverStation
• Re-implement timed-auto drive (done)