Big subsystem rework

[aidenzhang21345]

OVERVIEW:
Handoff and Feeder:
Remove logic in periodic for setting state to idle when not aligned in shooting and ferrying state, replace this logic with triggers in robot container.

Intake:
Remove stalling logic from periodic, replace it with triggers in robot container.

Swerve:
Added triggers for not aligned to hub and not aligned to ferry zone

Commands:
For state-setter commands (Handoff, Feeder, Intake, and Shooter), delete all individual state setter commands and instead make one class containing all commands, with each command being made by a command factory.
Similarly for vision make all previous commands part of the VisionCommands file, each one being a command factory.

The changes made to commands were just to be more concise and more readable.

The switch to triggers instead of logic in periodic was to avoid more complex logic being used every periodic cycle, and be more safe with the code by only using commands to control subsystems instead of using both periodic and outside commands to control states. Now the only thing the subsystem periodics do is set control to the motors.

It is important to note that the biggest concern here is to avoid controlling states within periodic, not necessarily other types of logic such as determining how to control the pivot motor itself based on its position and current state.