merged stuff and added (not working) shifters

It compiles! I added the pnumatic code to TestPeriodic, which should be checked because idk if that was the version that worked or not. I also moved some stuff from DerekDrive to shifters and created shifters. Will finish the rest of shifters later, but the other changes are kind of important so we dont have to merge manually

SHIFTERS DONT WORK FYI