Add Legacy Code to Repo

[Mitchell-Conrad-20]

Add the legacy code in a Legacy folder to the repo to continue support for the robots not outfitted with computer vision systems. We will need to have this code in order to make modifications for multi-hop.

Alternatively, have an option in globals/config for legacy mode which will be used on legacy robots.

[stoneoxmike]

I don't see this as necessary anymore, not sure what you're still thinking about this

[Mitchell-Conrad-20]

We can close this.