Arm swing forward in auto

[moreheadm]

The arm should swing forward in auto, instead of backward like it normally does to speed it up. As part of this, you'll have to handle looping properly.

[amzoeee]

is this actually worth? the difference does not seem that much given that the L4 arm position is 0.05 radians past vertical and intake is on the inside-robot/closer for backward-swinging side (~0.45 radians). I suppose we don't have to wait for elevator to move the arm... but I don't know if it's worth

also, with the current auto speed, the arm finishes moving before the drivetrain gets close enough; we'd have to speed up the drivetrain while being accurate to make this worth at all.