Merge pull request #11 from OlyCow/master

General updates (mostly encapsulation)
Merge pull request #19 from OlyCow/master

Updated (core) libraries and some (pseudo-) swerve drive code.
Merge pull request #21 from OlyCow/master

Updated (core) libraries and some (pseudo-) swerve drive code.
Merge pull request #23 from OlyCow/libraries

Pull in updates so I can work on swerve drive again.
Slightly updated documentation for headers...

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

Yup! New library structure renders this obsolete!
Comments? What? Also a temp fix

until we get gyros, that is.
Fixed some issues with the Task library

Now it works. Mhm.
Merge pull request #24 from OlyCow/libraries

Library update! (mainly math-related)
Polished some stuff up. Will work on PID next
Added "constructions" which make life easier

another enum, some structs, and some handy conversion-ness, plus a nice
#pragma
New conveniences! (more functions, etc.)
Basic implementation of PID+small fixes
Merge pull request #25 from OlyCow/swerve-drive

Swerve drive (might work!)
Merge pull request #26 from OlyCow/documentation

Tiny changes
Merge pull request #28 from OlyCow/master

Swerve drive-alpha!