refactor to use a more traditional state machine pattern

[gcschmit]

I refactored the shooter state machine to use a more traditional state machine pattern. I was reminded of this pattern while reading this CD thread.

I think this is a much cleaner design in that it helps us clearly define what should be done when a state is entered, continuous while in a state, and when a state is exited.

I also added some maps to reduce the complexity of the code that sets the angle and shooter wheel velocities.

Please let me know what you think. If you like this approach and if you have time, use this branch to refactor the intake to use a the same pattern.

[StefanIlic1]

I love the way that the states are formatted like commands, I had never thought about it that way. Everything looks good!