Added lift resetting logic

Also tweaked vertical roller servo values.
More number tweaking
Finished autonomous!

(except ramp)
Last auton tweaks
Updated wiring config

and conformed the code
Updated/reversed configs
Archived an old copy of swerve.

About to start major surgery on swerve. :(
Updated configs/readme and...

made other stuff work.
Updated main teleop for swerve
"main" loop is basically up-to-date
WIP: Deleted unnecessary PID swerve stuff [1/2]
Small utility for resetting pods.
Fixed configs

Everything works now PERFECTION
Updated PID loop (not done yet)
WIP: Deleted unnecessary PID swerve stuff [2/2]
This is it guys... should work now ;)

nvm actually need to redo configs :/
Things kinda work now...
Servos work now! (the winch ones)
IT WORKETH
Added logic to "override" lift targeting