Contruct the Main Control Loop

# Problem

# On this ticket:

## A config file system
- a yaml based config file system

## Control Tasks
- support the notion of a control task that has a constructor from a config file
- control tasks must support a .execute() function

## Main Control Loop
- support control tasks
- support the notion of state fields or channels. Typed?

## Out of scope
- any notion of timing restrictions LOL