Update TMC and CAN libraries (#22)

* Cleanup libraries and include statements

* Fixed include errors

* Full rewrite of TMC library

* Arm now moves in radians. Dashboard not working

* Added Gripper submodules

* Replaced TMC `stepsPerRotation` with `gearboxRatio`

* Cleanup Arm

* Update Gripper code

* Fixed errors

* Redesigned `arm.proto` and regenerated

* Fixed code to use new `arm.proto` and `coordinates.proto`

* Got IK working (beta)

* Use new `Device::ARM` in `BurtSerial`

* COMPETITION READY

* Stream data every second

* Updated submodules

* Upgraded pinouts.h to new TMC library

* Commented out IK code

* Moved handleCommand

* Arm working!

.gitmodules

@@ -19,3 +19,15 @@
 [submodule "GripperSar/src/utils"]
 	path = GripperSar/src/utils
 	url = https://github.com/BinghamtonRover/Firmware-Utilities
+[submodule "Arm/src/utils"]
+	path = Arm/src/utils
+	url = https://github.com/BinghamtonRover/Firmware-Utilities
+[submodule "Arm/src/tmc"]
+	path = Arm/src/tmc
+	url = https://github.com/BinghamtonRover/TMC-Firmware
+[submodule "Gripper/src/tmc"]
+	path = Gripper/src/tmc
+	url = https://github.com/BinghamtonRover/TMC-Firmware
+[submodule "Gripper/src/utils"]
+	path = Gripper/src/utils
+	url = https://github.com/BinghamtonRover/Firmware-Utilities