Develop closed loop speed control for an encoded direct-driven wheel.

[pordonj]

We are going to want speed control on our wheels this year if we do mecanum. Once the hardware is available and assembled, develop an abstraction to control a direct-driven wheel with an encoder feedback loop.

[pordonj]

@Tstano is looking into this next.

[Tstano]

I think i figured it out, but it definitely needs looking over. I pushed the branch.