Fix trailing whitespace

:%s/\v +$//g in vim
Remove tabs

:retab and re-remove trailing whitespace
Re-indent code
Serious renaming and style consistency changes
liftSpeed variable in Robot.java should only be local
Remove drive-mode switching

It should definitely not be changeable while driving in case of
accidental switching.
Re-organize teleop code to be in declaration order
Clean up miscellaneous things
Sort package imports

:’<,’>!sort in vim
2-space vs. 4-space indents and disabled() method