Worked on the grab motor system

Relevant Changes:
--Made an initialization function for the grab system and implemented it
in the robot init
--Renamed 'grabbed' to 'isGoalGrabbed' and made it static
--Removed all magic numbers and added them to settings.c
--Added tasks to call the grab/release/toggle function, in case we don't
want to stop the main thread to grab or release
--Changed 'servo' to 'motor' because that's what it is

Unrelated Changes:
--Changed setMovement(0,0,0) to halt() in the initRobot function
--Removed the halt from the API init
--Added an encoder reset to the robot init
--Added a reset encoder function
--Moved generic get/set encoder functions to encoders.c from the header
--Added a couple things to the to-do