Vision cleanup and documentation updates

[fallscameron01]

Description of Problem

General cleanup of code and documentation updates. Should update code to reflect coding standards. Should update documentation to reflect changes made over the last year.

Requirements

• All active code should follow snake_case, except for class names
• Parameters and return types should be typed
• Ensure active code has been formatted by pre-commit/black
• Ensure active code is well commented
• Documentation and readme's should be updated to reflect code changes
• See Create __init__.py files for vision folders #246. Cleanup imports.