Attempted Merge between Auto and Teleop code

Functionality of this code is not guaranteed. Test subsystems.
Remove Shoot Catapult Errors
Remove Sync Errors
Auto Fwd, Setting Speeds
Code from After mini-regional

several tweaks/function changes
Product of sync from team laptop
cleaned up code merge between nick and ashwin
fixed merge conflict
Merged Simleys changes into AlloyCleanup