Updated Sensors, Added Fail-Safes

Putting a jumper clip in digital 12 will switch encoders to quadracore
encoders. Digital 10 and 11 use the same alliance selection method as
our first robot, digital 9 enables the failsafe.
Started Framework For Better Auton Selection
Fixed Spelling, Added Lift PID Varibles
Added Lift PID Task
Added Fail-Safes and Moved Autonomous Functions
Cleaned up Code, Changed "Middle" to "Front"