Kicker Programming Firmware

[N8BWert]

Description

This PR writes the necessary firmware to program the kicker on our robots. The process for making the kicker programmer was relatively difficult and a software-controlled SPI line was created to address speed differences between the Teensy's LPSPI and the maximum SPI speed for programming the Atmega32a (kicker board).

Associated / Resolved Issue

Kicker Programmer Driver

Steps to Test

Test Case 1

1. Run kicker_on_breakbeam.rs example to test that the kicker_on_breakbeam firmware works
2. Run kicker_program to program the current kicker firmware.

Key Files to Review

Kicker programming driver and examples

• control/drivers/kicker-programmer/lib.rs
• control/examples/kicker_on_breakbeam.rs
• control/examples/kicker_program.rs

Review Checklist

• Docstrings: All methods and classes should have the file appropriate docstrings which follow the guidelines in the "Contributing"
  page of our docs.
• Remove extra print statements: Any print statements used for debugging should be removed <- the kicker should provide some feedback while it is being programmed so the lines are being left in
• Tag reviewers: Tag some people for review and ping them on Slack

[N8BWert]

Closing as it was part of #21