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should work now, not tested in visualizer or irl yet

things should be tested on the bot now, also AutoMoveToTest fails but I don't know
if its because of the changes in this commit
it's PIDMove in the end not PIDMove, also gets center of rotation from
AutoUtils.state instead of passing it in
@kevinzwang kevinzwang requested a review from brettle March 14, 2018 23:35
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