Libhal2.0 port

[Coreyboy1820]

Finished:

• Speed sensor abstract base class
• Speed sensor adaptor from hal::drc
• Mission control abstract base class
• esp8266 implementation of mission control interface
• transitioning homing function to work on a span of servos and magnets.
• Updated all implementations in arm and drive to use the abstract base classes instead of hard set implementations
• Now using libhal2.0 (pre-built binaries)
• Created an offset servo implementation of servo for homing purposes.
• templated the homing function