Static FreeRTOS creation

Relevant to and maybe Closes #106 (closed)

• Goal of this MR: Make everything static, so freertos won't cause task crashes.

• Unlike the non-static version, a task that is created statically and runs without crashes will continue to do so regardless of whatever other tasks are added.

• Currently 60% of the RAM is used.

• I'm not exactly sure on how to optimize memory for these tasks.

Bonus:

• Deleted some useless tasks