madtown 1

final code before madtown 2

please work if this doesnt work i'll be very sad
actually we might need to retune some values so it actually probably wont work

Intake works

intake works now

Controller is fixed

Controller deadband fixes

Swerve drive works

Swerve drivebase works on second robot.

Now more modular and handles cases where drive motor, angle motor, and encoder are inverted.