Merge pull request #102 from OlyCow/master

MCU updates.
Merge pull request #103 from OlyCow/master

Some (not all) last minute teleop tank changes.
Merge pull request #106 from OlyCow/master

Recent changes for superregionals
Merge pull request #107 from OlyCow/master

Getting ready to refactor(?) out swerve code
Getting ready to refactor teleop
Reorganized utilities
Fixed up sensor viewing utilities :P
Deleted swerve stuff. Hopefully still compiles
Template for a testing program.
Added basic testing stuffs.
Stuff.
Updated configs (I think?)

untested; may not be correct
Testing Program, Changed auton servo values, moved lift encoder to front motor

+Testing utility that runs all functions
+Reconfigured autonomous servo values to be 128 for cont. rot.
+Moved encoder on lift motor to front motor port.
Auton servo now initializes to 0 power instead of a position.
Small tweaks. We found the Heisenbug
Moved L Servos to one controller, updated teleop config

The first servo controller on the left has been taken out, and all the
servos on it have been moved to the new 1st (used to be 2nd) controller.

Warning: the teleop configs were updated, waiting to see if this
resolves the Heisenbug.
If you don't pass by reference, then DERP
IT WORKS--so happy I'm going to commit this

Also added convenience function for converting from 2's complement to
(signed) int.
yay for WORKING GYRO
Interrupts are up and running... I swear