Remove obsolete ToggleDrive command
Modify systems and commands to reflect final robot hardware
Added Winch subsystem
Removed requires(catapult) as this is a transient state-changing command with persistent effect.
Refactored the Winch functionality into the Catapult system.

This was done because the two are always used a combined system. The requires() statements would be convoluted with separate systems. This is a case where the code modeling is based on the behavioral functionality, not the way the systems are physically constructed.
Added optional wait to lob mode change command.
Preliminary PID control for catapult subsystem