Comp Task Refactoring

[viethungle-vt1401]

• Added CompTask as the base class for all competition tasks with default implementations of common subroutines (movement, yaw correction, pitch and roll correction, etc.)
• Added static methods get_yaw_correction and get_gyro_yaw_correction in the State interface for yaw calculations
• Abstract some commonly repeated higher level routines into its own competition task:
  • yaw_until_object_detection (used in yaw_to_cv_obj, octagon_task, slalom_to_octagon_dead_reckoning)
  • spiral_search (used in spiral_bins_search)
• Rewrote comp_tasks.py to follow the new CompTask signature
• Cleaned up the logic flow in competition task implementations
• Improved logging messages in comp_tasks.py

TODO:

• Clean up and refactor sonar_tasks and ivc_tasks
• Rewrite cv_tasks.move_to_cv_obj as a CompTask in comp_tasks.py

To be merged in after (#82).