Fixed multi init issue

For some reason, my laptop was causing the main class to be instantiated
multiple times. this would cause the robot to crash instantly upon boot
before any user code was executed.
Thanks to advice from justin, I rewrote some of the code to better
handle initialization.
Still not sure  why my laptop causes the crash when jackie's runs just
fine..
Vision, auton, controls!

Vision:
-Got auto-pitch to work.
-Vision is now integrated in auton.
Auton:
-Vision assisted shooting in auton
-New Anti-Centerline Auton - Screws up centerline
Controls:
-Added control for auto-aim
-tweaked drive algorithm a bit. gave driver new driving mode for
defense/cross field maneuvers.