Merge pull request #13 from pstephen43/master

Sync up before 2/4 session
all of tuesdays changes, s3 works
work from wednesday
all of Fridays work !WORKING!

could be compitition ready
added the lift raise back into S1
FINAL !WORKING!
Merge pull request #151 from PJTNT11/master

sync up before Batavia
Update abs_end_r1.h
Update abs_end_r2.h
cleaning up include statements
all the changes from the turniment
performing non-trivial merge
cleaning up include statements
Merge pull request #26 from pstephen43/master

Sync up before pre-state work starts