:sparkles: Added ESP to science control loop

[50xp50]

Resolves #79. Cleaned up the ESP portion of code in the arm and drive control loops to be consistent with each other. Also made sure they both retry to establish a connection if they fail initially, and then added this ESP code to the science control loop as well. Also standardized the variable names used throughout the three subsystems for better readability

[kammce]

Try and keep the commit title down to 50 characters (not including the emoji text, but the emoji does count for a single character) and move the description into the body.