controller + auton + otherfixes
Merge remote-tracking branch 'origin/master'

Conflicts:
	src/ca/warp7/frc2014/hardware/Drive.java
	src/ca/warp7/frc2014/hardware/Sonar.java
	src/ca/warp7/frc2014/software/CheesyDrive.java
	src/ca/warp7/frc2014/software/WingController.java
Lots of refactoring + fixing, should be final revision of code before I have the robot again.