First swing at CheesyVisionServer

Untested, but should be on the right track... maybe
Fixed leak in loop and added listening control

Made JankyTask private so that Start/Stop listening can't be
circumvented.
integrated with robot.cpp
Tweaked speed for long goal

Modified drive straight to test our 'curing' drivetrain
Updated SpinLongTruss to lower the flipper
Updated long shot angle tolerance
Modified manual flipper up to roll the wheels to assist ball pickup.
Integrated autonomous, fixed uninitialized vars
Merge branch 'CheesyVision'
Auton tweaks
Auton/StartPos High Gear, fixed hot goal delay

Tweaks to drive up auton
Added code to ensure auton runs in high gear, this helps keep the robot
driving straight
Reduced the turning coefficient for driving straight since this robot
turns much much easier than Dysonn
Changed the WaitForHotGoal command to use a fixed match time to end.