Ignore isDriveAligned when against subwoofer

[aidnem]

Purpose When the robot is positioned against the subwoofer, it sometimes can't rotate and therefore sometimes can never be satisfied to auto-shoot. This means that mashers will have to force shoot when taking subwoofer shots and the robot might not be able to shoot preload when not starting from the middle position.

Project Scope

• [ ] Test whether or not this is actually a problem or if we can consistently manually align the robot before autonomous
• [ ] If it's an issue, determine a distance below which isDriveAligned should be ignored and driveReady should always be true.
• [ ] Test to make sure this doesn't cause is to prematurely shoot easy shots and miss.

[aidnem]

@jkleiber I don't know if this is necessary or good but it's ready to tune and merge at shop if we decide we need it.

[jkleiber]

@aidnem my take is that rather than force shooting we should have some button that indicates we are against the subwoofer and overrides this specific check in teleop. In auto this should not be an issue because the pose should be reset to the initial position of the robot's path

[aidnem]

@jkleiber I have no clue if the minimum distance on this branch even did anything, but teleop (and preload) seemed to work fine with the code in the current state so I suppose we just trust it?