Polish up Teleop code

[BrendanNestle]

Polish up the Teleop code and make sure it's ready for the drive team.

• Change the button layout to something more intuitive
• Change the speed of the driving and the turning until it feels more intuitive
• Anything else the drive team requests

[BrendanNestle]

The controls part is done for now, the next step would be to drive the robot around and adjust the speed until it feels natural.