Controller for scooping mechanism

[bgrayd]

The scoop_controller node needs to be made. This may require two versions, one for CR16 and one for CR17, since they have different designs for the scooping and CR17 should have feedback on the position of parts.

[bgrayd]

The input will be of the cr17 scoopController type. It will output the desired angles for the arm and the scoop in the int16 ROS message type. The angles for each state should be pulled in from the parameter server, under names such as "scooper_angle/drivingPosition/arm", "scooper_angle/drivingPosition/scoop", "scooper_angle/digging/arm", etc. It should also have a service for whether or not it should be active/sleeping. This will be used when changing between autonomy and teleoperation. The service receiving the value false will mean to not run, and the value true means to run.

[bgrayd]

The ROS service type should be autonomousActive