Begins to port drivetrain code

[jkleiber]

This establishes the framework I think we should use for the project. It does it using a drivetrain specific example.

I still need to go through and implement all the drivetrain functions, but this should be a good start of something to build on when working on the intake @danielbrownmsm

[danielbrownmsm]

so is our house style going to be

void func()
{
  //code
}

instead of

void func() {
    //code
}

?

[jkleiber]

so is our house style going to be

void func()
{
  //code
}

instead of

void func() {
    //code
}

?

This can be our style, it's just what I have set up in the clang-format file for now