Lots of Changes

- Portnums are now all correct
- Changed catapult states around, will no longer fire on its own
- Catapult no longer needs limit switch for zeroing
- Chassis motor inversions still need work
- Collector now uses IR sensor, but needs more testing
- Shooterclicksstoppingpoint value is gotten from smartdashboard
UNTESTED
- Insight currently displaying IR sensor value
- Changed rotationPIDoutput around, haven't gotten it working yet