Unified joystick and keyboard controls:
UP = Joystick and keyboard turret relative
MID = Joystick chassis relative and keyboard turret relative
DOWN = Joystick and keyboard chassis relative
Beyblade toggle sets turret relative to both

Attempt to clang format

Fixed joystick error where robot would keep moving after no input

Beyblading still needs testing

* For the sake of simplicity, turret-relative can always be used.
In the event that this is annoying, we can always add more options.
* This also frees up the right switch to use for other stuff.