Angular velocity puller

[RED-M0CKING-LINE]

Extend the gyroscopic subsystem or create a command that handles a separate thread that consistenly pulls and calculates the angular velocity of the robot's rotation (angular velocity = radians / time)
Have a command that starts and stops the thread that is used to calculate the velocity, and then have methods that pull the latest calculated velocity from the thread while remembering and factoring in the last two velocities to increase accuracy of the calculation in case of an error either in the reading from the gyroscope or time the program actually waited.