Working auto pidarm#4
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Button presses added to take shooter to two positions, PID tweaking still required. Middle autonomous added
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Using the 0 to Autonomous code example, these suggested code changes create an Arm Subsystem, along with PID and Joystick commands.
Currently the PID commands are mapped to the driver control since there didn't seem to be any options on the intake controller, but those can be reworked.
Most things can be controlled in the constants. The PID values were set very low and hopefully should only be turned up from their current state.