Implemented peripheral functionality

[PoorRican]

Description

This major update provides functionality for arbitrary I/O peripheral functionality. There is now the ability to manipulate GPIO registers or execute arbitrary commands using GPIOCommand within the main event loop, and commands can be scheduled outside of the main event loop using Routine.

Changelog

• Closes Implement bin for Routine implementations #34
• Closes Commands meant to be called outside of polling structure should be called Routine #36
• Fixes There is no way for a Command to be given a closure #47
• Fixes Custom implementation of Error and Result is cumbersome #48
• Closes Device requires log upon initialization #55
• Fixes Device requires log upon initialization #55
• Fixes There is no common interface devices to interact with log #56
• Fixes There is no way to schedule commands #57
• Fixes GeneralizedInput and GeneralizedOutput should not require log #60
• Closes Testing for GPIOCommand #61