Improvements for second competition

[amorygalili]

• [x] Use ProfiledPIDController instead of PIDController to control telescope. This will limit its acceleration which should hopefully prevent slipping.
• [x] Use AprilTags for auto scoring and picking up game pieces at the human player station. We may want to consider using WPILib's HolonomicDriveController class for moving from one pose to another like this team is doing: https://github.com/RoboLions/State-Machine/blob/main/src/main/java/frc/robot/subsystems/drive/FollowTag.java
• [ ] Improve and add additional autos
• [x] Clean up code
• [x] Make robot faster
• [ ] Get telescope zeroing working
• [ ] Tune shoulder feedforward and PID controller