Nathan tweaked keep pos stuffs
Deleted commlink junk from blocking auton
Deleted junk from IR auton.
halfway through rewriting auton

now has lots of settings and settings display
Fixed (finalized?) IR auton. So fancy

not completely tested (no defend ramp either)
Tweaked teleop
Started rewriting ramp program
miniscule tweak
Moved things into auton.h header
Extracted all MAGIC_NUMs from IR auton
Config-ified ramp program.
Implemented ramp defense.
Extracted gyro task into auton header

Also started cleaning up blocking program. Started to configure it.
Fixed weird lift behavior and stuff.

Also adding comments and explanations, plus housekeeping in general.
Hopefully we don't get any merge conflicts :/
Also I'm committing this from an airplane :D
Lift (magic?) done

夜太漫长，凝结成了霜
Finished writing safety timers :P

Also fixed minor formatting errors.
[BUGFIX] derp
Autonomous stall detection

Auton arm now needs to be lowered manually in teleop.
Some lift PID tweaking.
Updated blocking autonomous

also fixed the stalling (maybe)
We NEED to adjust the adjust values
Some number fixes

not completely done! see TODOs in configs