TaxiThenShoot (and by extension RampThenShoot) no longer depend on supplying a
controller.

ClimbEasyHighBar and ClimbTimed timings have been tuned a bit.

Timeouts were also added for AlignWithHubSmart because it wasn't
reaching its goal, preventing drivers from driving the robot.

Also added in some delays to ClimbTimed.

The default angle in ShooterSubsystem was changed to 12 from 5 as well.

Increased feedforward constant for turning with Smart Motion because of
increase friction due to the carpet.

Increased the current limit for the intake arm to 15 amps, and Increased
its max power to full power.

Undo port forwarding because it might be causing robot code to cut out?

Added reversal for intake and indexer.

Intake now runs for all of TaxiThenShoot autonomous.

Also fixed RampThenShoot, as it was throwing a NullPointerException in
the past.

Intake lift motors were changed to coast mode from brake mode to avoid
shredding the gears (they're aluminum).

Added arbitrary feedforward power for turning using Smart Motion.

Secondary camera feed is now functional, but for some reason the
limelight feed doesn't work on the driver station.

Adjusted ClimbTimed timings again.

Started implementing speed switching in DefaultDrive but didn't finish.

IntakeLift is meant to be used when the intake lift motors are in brake
mode to reduce wear on the gears.

Shooter ramp time in RampThenShoot was increased to a maximum of 1
second.

Also move calculations to utilities/ShooterMath.java, although that
might not be necessary.

…lass

I don't know why this was necessary but here we are.

This also required a few changes elsewhere due to removed/renamed
methods.

This included the renaming of some methods & changes elsewhere to
reflect these new names.

An enum switch is now used for RunUpperIndexer, just as with
RunIntakeRoller.

Also fixed a few NullPointerExceptions and the like elsewhere.