TimerTask enhancements

- Will throw an exception if period is < 0
- Catches up the wait_til time if it goes negative

Re-enable Gearsbot and pacgoat tests

Some optimization for simulated hal routines

Fix robotDrive tests

Merge pull request robotpy#180 from robotpy/can2016

Update CANTalon for 2016

Catch the right exception when removing the ultrasonic

Fix bugs in ultrasonic implementation

- Add some tests
- Allow setAutomaticMode to be called multiple times
- Properly free the background task

Modify timertask to be resilient to falling behind

Fix crash in PIDController

Fix win_bins in installer