Inline gross auto stuff

[gnawinganimal]

Just inlining a whole lot of gross auto stuff

[sertbot[bot]]

Hi @Jamdan2, thanks for opening this pull request!

Looks like this is an addition or fix for the robot. To make sure this change goes added in smoothly, make sure the following chores are complete (please check-off items as they are completed):

• [ ] Test code changes on the robot (if possible).

• [ ] Verify that significant changes have tests and pass successfully.

• [ ] Ensure this pull request is appropriately titled.

Maintainers – please review this PR. A review from the @SouthEugeneRoboticsTeam/reviewers team is required before the PR can be merged.

Finally, use @sertbot merge to merge this PR into the appropriate branch.

Thanks!