BoB Pivot Rewrite / Cleanup

[falOn-Dev]

Pivot needs toe be rewritten and/or cleaned up for Battle o' Baltimore, here are the important features

• Controlled using PID, Feedforward, and Motion Profiling, view THIS EXAMPLE to see how it can be implemented without feedforward, but it needs feedforward
• Have command factories within the subsystem for smaller commands, minimize boilerplate
• Use measures in as many possible locations, with radians as the bast unit for things like feedforward and PID control
• Keep it simple, stupid

I trust your judgement in determining the best ways to implement these.

[Something-Inconspicuous]

There are a few places where the units being used are not clearly stated (really just the autoaim map pretty much). Could you please document all intended units that you know of? Thanks.

[falOn-Dev]

Added it in, try not to have an aneurism

[falOn-Dev]

You should be using the Commands class for your factories, not creating full classes within the subsystem