Started catapult delay to lower hoop **contains bugs**
finished lower hoop during shooting
All the changes made during and immediately after Coloma practice:

- get the pusher doing a momentary push when actuated.
- remove the hoopup() at the end of a shoot.
- get allForward() in DriveSubsystem to work the motors in the correct direction.
- clean up telemetry.
- some code cleanups, remove old debugging crud, made sure println()s are informative.
- get some comments into the state machine in CatacultSubsystem.