General opMode optimisations

[bubner]

Including new classes for field positioning, to increase the level of autonomy we can achieve, using IMU, deadwheels, and camera.

• Attempting to include more advanced data interpretation using deadwheels and potentially using Vuforia in our interpretation. Perhaps we can make a form of matrix based on where we are on the field.
• Also trying to include better ways we can use our opMode, through optimisations in the low-level abstractions

[bubner]

Closing branch due to stale development.