Move to inlined commands and command factories

[TylerSeiford]

As described in the WPILib docs, the preferred/best practice method to structure a robot program is to use inline commands rather than sub-classing the Command class.

In addition to moving commands from their own class to an inline command, it is also recommended to do so within the subsystem as an instance command factory method.

This is a paradigm change from the current method we use to code robots. Instead of writing a subsystem and exposing functions which can be called from commands, we write a subsystem and expose commands which can be directly bound to triggers.