Update MotorSubsystem to not implement Motor or Encoder - #125
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This looks pretty much good to go. There is something that was added which may be unnecessary, and a bug I noticed while reviewing this code.
For the bug, we could fix it in this PR, or I could just make a PR after this one merges that fixes it.
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The goal is to discourage code outside of the subsystem to directly interact with the motor. Subclasses should instead provide public APIs for controlling the subsystem, preferably via commands.
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This will hopefully discourage code outside of the subsystem from accessing
the motor APIs directly.