Added a testing program for poll rate

Currently hits 2~3 milliseconds per poll! Pretty good, eh?
Added a template for omnibase code.

The actual code is on the computer in Mr. Bratt's shop.
Added omnibase code

This time, with MY functions. MUAHAHAHA.
Merge pull request #35 from OlyCow/swerve-drive

Added omnibase code. :D