Add Mechanism class

[aidnem]

Purpose
Create a Mechanism class to separate logic for individual mechanisms and abstract it out of the subsystems without causing duplicated code in the IOs.

Scope

• Create a mechanism class that handles an IO and updates inputs and applies outputs
• Create an IO interface that other IOs can implement, so that the mechanism class can handle IOs automatically

Based on: this discussion.

[aidnem]

This is actually very sketchy to implement with generics, we should reconsider if we need to explicitly add mechanisms to coppercore tonight at shop.