Drivebase Scaling Factors and Gyro

Added a scaling factor to the drive base control.
Added support for setting the scaling factor from the OI.
Added gyro support.
Gyro Patch and Shoot Command Waiting

Fixed the gyroscope ports.
Added support for waiting for spinup on the shoot command.
Scaling and Header Guards

Patched scaling factor in the command.
Fixed misnamed header guards.
Patched collect command.

Patched the collect command to ignore light sensors above a certain
level.
PSock implemenetation on shooter

Added implementation of the P-Sock on the shooter pitch and motor
subsystems.
Also added information to the UpdateOI command.