Taylor Series Expansion of x^y in Joystick Parsing

[alifaraji03]

To increase throughput in the drive loop, use a Taylor series expansion of x^y. May also require Taylor series expansion of ln(n). Probably only need up to n=2.

[haywoodsloan]

Investigated using Taylor Series for ln(x) found ours to be slower :(... Changed safety timeout to 0.5 seconds instead. Those poor children.