Added a preset deadzone to keep the carriage from oscillating
Major changes to autonomous: Three distinct legs

1) First leg: Using tankdrive drive as fast as practical towards the goal while staying parallel to the wall until the bot is 5 or 6 feet away from the goal.
2) Second leg: Switch to mecanum and reduce speed.  Drive at the wall/goal at a 45 degree angle until the bot is in scoring position, 24 to 4 inches away.  It is likely that the bot will strike the side wall prior to getting into scoring position and should continue to move towards the goal while applying pressure on the side wall.
3) Third leg: Stop to robot in scoring position and eject the ball from the forks into the goal.