Major updates all rods and servos active

Following Ethan's architecture, an abstract pulley pid subsystem, and an
abstract rod subystem, from which left right and top subsystems are
extended.
Also following Ethan's architecture, a framemath and si class, with
static methods handle complex trig calcuations and sensor interfaces
respectively. Potentiomenter and servo calibration parameters,as well as
positions of pulleys and rod servos  are handled in arrays.  A missing
line of code was replaced in the getclimbtape method.
There is no digital servo class. There is no abstract command class.
Each rod has two active commands, an anglefree and a followtape command,
Anglefree settings are relative to the floor and are accomplished with a
subsystem method that controls servo velocity.  Each pulley has a
setlength command, with a velocity parameter. Each pulley and rod also
has a donothing command. Pause and resume commands accomplish thier
tasks by using the "requires" clause to interrupt any commands using the
targetted subystems.
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