Controllers can't set motor voltages

[NoRePercussions]

Is your feature request related to a problem? Please describe.
With some systems, such as high-mass high-speed flywheels, the built-in motor PID controllers can have significant oscillation. Allowing for controllers to directly set motor velocities gives an option for more direct control, while still being safe.

Describe the solution you'd like
An inner class to AbstractMotor which implements ControllerOutput which directly sets voltage.

Pros:

• Similar to AbstractMotor::getEncoder for getting controller inputs
• Can prevent duplication of

Describe alternatives you've considered

1. A subtype of Motor – this is the implementation I use in my own project.

   Pros:

   • The motor can be passed into Controller builders rather than manual instantiation

   Problems:

   • A duplicate wrapper would be necessary for MotorGroups
   • It isn't technically a subtype of Motor

2. An external wrapper class

   Pros:

   • Straightforward

   Cons:

   • Multiple such wrappers may be instantiated and compete

Versions
OkapiLib 5 / PurdueSigBots maintenance fork