Change turret aiming based off of agreed upon priorities

[GreatGreenStar]

Robot turret should:

• Aim for 3 areas, choosing the hardest POSSIBLE one (ordered below from hardest to easiest)
  • Off the backboard in front of the hub
  • Into the corner
  • Over the bump
• Use a nested class to keep track of current target
  • Nested class should decide whether robot position or limelight are used
• Account for the 360 degree rotation on the actual robot instead of the whole "180 max either direction" somewhat built for previously
  • Account for the "dead-zone", the area we can't rotate past because of a very small area the chain will got caught on so we can't roll-over past it.
  • This was previously assumed to be a possibility which now needs to be accounted for
• When calculating for aiming, describe angle using field coordinates not local robot coordinates
  • Whenever anything asks for coordinates from turret should be field coordinates