Logic for ToggleLauncher and LaunchDisc commands.

I've add logic for the ToggleLauncher and LaunchDisc commands. Currently, the LaunchDisc command relies on times to control the movement of the advancer forward and backward. Ideally, we could use sensors to control that, but this will work as a stopgap.

All constants, speeds and times are located in the RobotMap file. Pretty soon, we'll probably want to begin implementing the DriverStation functionality so we can tune those parameters on the fly without having to recompile and reload every time.