Clean up the codebase formatting and comments #9

These are a bunch of miscellaneous changes.

• Since we are going to start using spaces instead of tabs, we should convert the whole codebase to spaces
• We should remove the worthless "Created by Hazen Robotics" autogenerated comments
• We should go back through and add Javadoc wherever it doesn't already exist, which happens to be most of the codebase, now that we have the time to do it
• We should look for general formatting issues and make sure all of our code is formatted consistency, perhaps defining a prettyprint configuration and running it on all of TeamCode
• We should make sure we use consistent naming conventions and that all of the variable names make sense

Note that these changes are very likely to break merges despite having no real content, so be sure to work with the rest of the team to minimize conflicts, perhaps breaking up the work to only make changes that nobody else is working on.