Create multi input and output PID controller

[SaarYogev]

FIRST's PID controller class only gets output from a single sensor, and outputs the PID result to a single SpeedController. We want to do more things with the controller, like driving straight or turning with both SpeedControllers. This has to include an additional parameter, like an isTurning if it is for switching between move and turn, or Enum if we have several states.
The current state is:

• Controlling 2 motors with changed PID classes
• Changing control states(eg. between turn and move), through a boolean parameter bugged
• Generalizing the code so it will control any number of inputs, outputs and states

[SaarYogev]

now that changes most changes were merged into master( #8 ), work on the PIDController is done on it's own feature branch. it is still not working and I might need more help.