Cleaned up and Redid "RooDriveTrain.start"

Renamed it also (now RooDriveTrain.periodic)
Here's the thing (and I explained this in the comments) teleopPeriodic
is for all intents and purposes, our While(true) loop. Putting any more
loops within it will really only slow it down.
Also I disabled our turning code until we can get the robot driving
straight, will reenable it once we get a new Stable.