Sim classes for all subsystems

[LuminaIris]

Added full sim support for all existing subsystems

• A complete sim class for all subsystems, using logic as close to the original as possible
• Small misc updates to existing subsystem classes to make them compatible with sim (e.g. arm constructor changed to allow sim class, small updates to io classes for climb and intake, etc.)
• Added subsystem sim versions to their respective constructors in robot container
• Updated some subsystem documentation