+Added digital inputs

*Code cleanup
*Rotation limit
*Fixed drive reverse
+Added custom rotation method
-Removed speed limiter
*Changed lifting to be rotation based
*Swapped joysticks
*Code cleanup
+New DigitalInput

-Autonomous
*Changed lift speed by  .1
*Code cleanup

Reversed digital input & simplified code
*Reversed lift digitalinput
*Code cleanup
Various changes from last season