Restructure RollerArm to be more intuitive

RollerArm
- Moved Roller into a nested class Roller
- Moved what was RollerArm into a nested class Arm

Roller
- Removed

Requireable
- Created an interface to allow a non-subsystem to be used as a requirement
  for a command

Subsystem Base
- Provided a default implementation for putToDashboard

CommandBase
- Created requires method to handle new Requireable interface
- Removed commented out code
- Fixed formatting

CompetitionRobot
- Updated to use new RollerArm structure

OperatorInterface
- Updated to use new RollerArm structure
- Removed commented out code
- Fixed formatting

PrepareForCapture
- Updated to use new RollerArm structure
- Fixed formatting
- Deprecated

CompleteCapture
- Updated to use new RollerArm structure
- Fixed formatting
- Deprecated

DropTurnRightDrive
- Updated to use new RollerArm structure
- Fixed formatting
- Deprecated

DropTurnLeftDrive
- Updated to use new RollerArm structure
- Fixed formatting
- Deprecated

TestPneumatics
- Updated to use new RollerArm structure
- Fixed formatting

StopRoller
- Updated to use new RollerArm structure
- Fixed formatting

RollOut
- Updated to use new RollerArm structure
- Fixed formatting

RaiseArm
- Updated to use new RollerArm structure
- Fixed formatting

LowerArm
- Updated to use new RollerArm structure
- Fixed formatting

EjectBall
- Updated to use new RollerArm structure
- Fixed formatting

DriveAndScore
- Updated to use new RollerArm structure
- Fixed formatting

RollIn
- Updated to use new RollerArm structure
- Fixed formatting

Subsystems
- Updated to use new RollerArm structure
- Fixed formatting
Move drive train constants into DriveTrain
Remove global PIDControllers

CompetitionRobot
- Removed global PIDControllers

Subsystems
- Removed global PIDControllers

IMU
- Added getContinuousAngle and getBoundedAngle
- Fixed formatting

DriveToRange
- Modified to use local PIDController
- No longer uses PIDDriveInterface

TurnRelativeAngle
- Modified to use local PIDController
- No longer uses PIDTurnInterface

PIDTurnInterface
- Deprecated

PIDDriveInterface
- Deprecated
Fix bug in 9d8387