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This reverts commit 8180bee.
everything only works for the blue alliance at the moment, need to fix for red.
i'm still unsure of how this will work in a match on an actual field, but the reset gyro will definitely work which makes it drivable
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the inversion in strafing is to make it more natural when the robot has its back to the reef, because it makes most sense for the strafe to address the side facing the reef as the front, hence inverting so that the direcitons are relative to the back of the bot.