Merge pull request #11 from OlyCow/master

General updates (mostly encapsulation)
Merge pull request #21 from OlyCow/master

Updated (core) libraries and some (pseudo-) swerve drive code.
Slightly updated documentation for headers...

meh
Deleted `Encapsulation.md` (not needed anymore)

Yup! New library structure renders this obsolete!
Merge pull request #26 from OlyCow/documentation

Tiny changes