Actuator Board Cleanup

[davidlenfesty]

Aside from migrating to using a servo for firing torpedos, the following cleanup tasks should be done.

• Just use sin function from math.h instead of the custom sin table. It harms readability more than it matters for performance.
• Convert the handling of actuator commands to use look up tables instead of massive blocks of if statements. Convert values used into integer values to help with this. (or at the least use if/else if instead of just if)
• Move hardware definitions to a common hardware.h file.
• General indentation/code formatting fixes.

[davidlenfesty]

The comments and stuff I did during the meeting are on the david/torpedo-comments branch, here: https://github.com/arvpUofA/au_teensycode/tree/david/torpedo-comments