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This pull requests adds the ability for the robot to automatically align to any side of the reef. It does this by aligning to the reef that is closest to it. It will only align to the reef of its alliance, so if the robot is on the Blue Alliance, it will only care about the Blue Reef, and will disregard the Red Reef, and vice versa.
The scoring sequence is also automated. Given the input of which peg to score on, and on which level (e.g. right L4, left L3, etc), it will automatically align and then eject the piece on the peg.