Merge 'Feature/teleop velocity drive' into dev

[derickson2402]

Merging 'Feature/teleop-velocity-drive' into 'development' for further testing.

What is currently implemented:

• Shuffleboard tab for Drivetrain
• Button mapping for activating velocity control
• Encoder configuration
• Kinematics integration

What needs testing:

• Bug: wheels only go full speed during velocity driving