Added safeguard to HeightMotor

If either limit switch is pressed, it will not move. The only workaround
is to use the cRIO.heightMotor.Set() function.
Implemented all "easy" DriveBase functions
Added Insight integration (into wiring class) :)

Some low-level tweaking, even.
DriveBase implementation tempfix
Restructured modes and added a test.
Added a temporary "Motor" class for inversion

Now we can easily invert motors :)
Minor cleanup, along with some safety stuff.
This is our teleop. Oh yeah.

Except we don't have drive base code yet :P
Got rid of all macro #defines. :D

now you can just myString._cstr() or whatever it is.
Merge pull request #15 from ORF-4450/development

Almost done! It compiles. Just won't drive around.