Support for FRC simulation

[tomtzook]

• Add support in robot bases for simulation. Things like HAL reporting and simulation updating.
• Add a nice way to manage simulation vs real robot parts
• Add a nice way to manage simulation components

Currently, wpilib docs shows using the simulation while mixing real and simulated only code parts and using if checks (i.e. isReal isSimulation). This isn't really comfortable, so look for some way to separate (into classes or something).

[tomtzook]

Basically, in simulation mode we use most of the electronics the same. BUT because there is no real-world feedback, we must add some code which provides that. WPILib supplies a number of classes that are capable of doing the calculation necessary to simulate parts of the robot, but we must declare which to use and connect them all.

If you look at examples from WPILib (see links bellow), you'll notice how mixed the simulation and real robot codes are. This is a problem for 2 reasons:

• the simulation code may cause side effects when running on a real robot
  • we can assume WPILib has protected some of its code from it
  • however, our usage of it and any additional overhead we may need is not guaranteed to be safe.
  • even an effect caused by allocating some memory may have serious consequences
• any robot part which is simulated will be clattered with additional code
  • can easily break SOLID or CLEAN-CODE principles
  • makes it difficult to maintain and work with

Our integration for the most part needs to address those problems. However, some parts of the robot may need complete replacement, like HidInterface. So that's a different thing, but should be simple thanks to the abstraction of FlashLib.

Our steps will be:

• learn more about using the simulation code
  • the different classes, how to use them, etc
• design an easy-to-use, simulation-only API to wrap them. We can use a separate gradle sourceSet to make sure the simulation code isn't deployed on the robot.

Take a look at some stuff:

• Elevator example
• Drive Train example
• Simulation Docs

[tomtzook]

Maybe make it into a project for the programming team.

It will be a good way to learn more about WPILib, about FlashLib and about code design.

@guyws @yaronkle