Update `PIDController.java` to run on a separate thread

[BrandonPacewic]

The main reason that this is necessary is that it will allow for the running of both Roadrunner trajectories and the PID at the same time without using the async stuff from roadrunner. Not having a async PID and instead relying on another library's implementation of one is a very non programmer solution to a purely programming type problem.

[BrandonPacewic]

Unfortunately this may not be possible due to the sdks insistence that only one thread can control hardware at a time.