Added function to shoot when goal is hot
added diag
Revert "added diag"

This reverts commit 8b1480e603d74a06edf11658afe31f6b60f8c767.
Revert "Revert "added diag""

This reverts commit c4d924eebca36ad879ddbd70227190e8803b3ae1.
Started post-testing client implementation