Made simple lights. Adds infastructure for later lighting additions. Current functionality is turning lights on when button pressed once and off when the same button is pressed again. Button on operator control needs to still be decided.
Added documentation for winch.
Added useful constant CANTSTOPTHIS.
Added constant OHYESICAN.
Removed silly constant.
Merged with kevin-branch. Removed silly constants.
Back to a state that will build.

Put lights feature on hold. Needs a bit more fleshing out before it can be
added. Think about creating a branch first and work on it separately.
Removed winch testing code from RobotMain.
renamed stuff and made lights better.
Rebased with master.