Invert lower sensor again.
Cut hopper out and in time in half.
Add pendulum-based angle checking
Add a static tilter angle for initialization, if necessary.
Add comment to pendulum in Drivetrain
Add autonomous delay, controlled via SmartDashboard.
Comment out pid
make dummy tilter
Redo runTilterToBottom to check if above or below.
Rename to runTilterToBottom to runTilterToAngle.
Change tilter manual control to use non-PID.
Replace things in Autonomous for non-PID aiming.
Check for auton infinite loops.
Replace delay time for auton shooting.
Change default of auton, and being removing convey auto from auton5.
Update leadscrew angle stuff, adding a distance between where the leadscrew assembly connects to the conveyor and the nut.
Add Auton 9, which is 3 with move toward center, as well as a one-time PID update.
Remove SmartDashboard tuning puts for Drivetrain.
MAke Auton 9 actually do Auton 9, not 8.
Make initial length set during auton init.