Refactor Library Structure

[dyldonahue]

Current Features

Our directory structure is currently a bit messy, with convoluted platform and general folders that will soon become unneeded anyway

Desired Additional Features

With the completion of #138 , all drivers should be stm platform agnostic anyway, and with the completion of #139 , they will become completely decoupled with hardware. So, our dir structure doesn't need to distinguish between these.

The simpliest re-implementation is simply

base
--> Drivers
--> Middleware

But im not opposed to more detailed breakdown if it made sense

Screenshots (as needed)

No response