Modernized project

This rewrite brings the codebase of this project more in line with the format of the other bots, including things like C++ randomization, better abstraction, use of exceptions, etc. Notably, any FFMPEG objects that get allocated are wrapped in simple objects so that they get properly destroyed if an exception is thrown. Some more error detection and cleanliness stuff can probably be done but my wrists really hurt.

Also updated librawr, and thus also removed the yaml-cpp submodule.

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