Pickup: Add priority change to task
Valve: uncomment out isValid() call in isOpen()
Misc fixes
Pickup: Simplify states to up, down, and middle

Conflicts:
	Karen.cpp
Merge branch 'pickup-states' into master-states

Conflicts:
	Karen.cpp
General clean up of main code
Merge branch 'master' into master-states

Conflicts:
	Karen.cpp
	Subsystems/Catapult.cpp
	Subsystems/Pickup.cpp