Merged Alloy to ALloyCleanup
Merge remote-tracking branch 'origin/Alloy' into AlloyCleanup
DriveStraight is dumb if encoders are missing

isUsingEncoders and isUsingGyro are the Chassis' boolean flags. Now
Chassis subsytem and DriveStraight command are using these flags to
adjust their behavior.
Merge tag 'archive/AlloyCleanup'