Set drivetrain to use PID through SpeedControlledWheel.

Drivetrain now uses the Wheel classes in its constructor.
Add test mode programming to Zeke.

Zeke will now run the PID tuning system during test mode.
Merge branch 'master' of git@github.com:TheGreenMachine/Zeke-Java.git
Remove PID control from the drivetrain.
Remove autonomous command from Zeke.