Merge pull request #28 from OlyCow/master

Swerve drive-alpha!
Merge pull request #37 from OlyCow/master

Updated code (refactored!)
Replacing "inline" functions with macros :(

RobotC is stupid, is why. There's a hard limit on 256 functions per
program.
Replaced "Task.h"'s "inline" functions.

yay? Should work better now, since multitasking is inherently based on
#defines...
Joystick structs are now in corresponding files.

Also added an "initialize.h"!
Deleted this superfluous PID file.

"subroutines.h"? Come on.
Enums.h is now dismantled. :P Mostly.

Mostly.
Dismantled (mostly) "global vars.h" too.

Almost done with this.
Added vector library templates.

Have yet to move stuff from math.h into those though.
Omnibase code should now rotate :o
Merge pull request #40 from OlyCow/libraries

Libraries now have lots more #defines.