initial code refactor, doesn't compile and not finished either
more refactoring
remove crap
refactored publishing of phi
minor cleanup
prevent constants from being modified
many renames and cleanups, still not done and doesn't compile either
remove stars from license
further cleanups
abstract modes of operation
fix a typo and imports
fix file header copyright
refactored tf and all related phi computations (and some minor fixes, not properly tested yet)
white space clean ups
rename arm to wheel as it is more appropriate
changes py files to lower_case as this is the common stantard for non-classes and merged SuspensionMode and others together
split of suspension (controller/refactored)