Adds basic framework and beginnings of the swerve drive

Gives a basic layout for how the program is going to be structured. Also
contains the base structure of the swerve base (no code implemented,
just classes and functions)
Updated readme
Added beginning of field map
Started implementing swerve
Added encoder and turret classes, and started implementing state machine
Started adding integration with the physical robot
Changed variable name to make project compile
Added better encoder and swerve code

Also started adding gyro stuff