Autonomous is Nearly Finished

Autonomous is now almost complete, there are just a few things that need
to be done:
1.) Tune all the numbers
2.) Make it so that when switching from one mode to another, the state
of the shooter isn't corrupted
3.) Clean up code

Autonomous could improve slightly, like having the shooter loaded, and
tilted, and having the robot turn around at the end would be nice, but
it may not make it in.