Add PeriodicRegistry #96
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This introduces
PeriodicRegistry, which allows classes to provide callbacksthat are executed periodically, without requiring that users remember to
explicitly call a method during a periodic callback.
Callbacks registered to
PeriodicRegistryare provided aRobotStateinstance, which can be used to get the state of the robot.
RobotStateisan interface, allowing users to provide fake implementations, if necessary,
to enable unit testing.
This PR also introduces
ModularSubsystem, which provides an implementationof PeriodicRegistry
. Time spent in the callbacks registered with thePeriodicRegistryowned byModularSubsystem` are attributed to the subsystem.See #95 and #99 for applications.