Initial simulator investigation work

[jkleiber]

Summary
We should figure out if we should use the WPILib simulator. If we should use it, we should figure out how to use it. If not, we should explore alternatives or make our own thing that simulates the robot.

The broader goal would be to test the robot in CI in simulation. This way we can test autonomous/commands as they are added in sim and ensure no unexpected regressions occur.

Work

• Figure out how the WPILib sim works
• Baseline the work for a ride-along simulation where we just feed our own sim models with inputs from a simulator interface
• Decide on if the WPILib is right for us
• Make tickets for future simulation work