Major Structural Changes & got rid of compiling errors

[NandaGuntupalli]

• No longer using the overly complicated simulationThrottleEncoder and stuff like that, as we get the encoder and whatever information directly from the Flywheel Sim themselves.
• Fixed all the corresponding code in the SwerveModule to reflect change in attribute gathering
• Fixed the Teleop Command Such that it no longer says that the turntoangle decleration is reduntant. This also stops crashing in the simulation when switching to Teleop, which was a big issue.