Pull Request Code Optimization #3
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…three of these behaviors had almost the exact same code, so this should help reduce complexity.
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In this pull request I have tried to optimize some of the code so that it is more efficient. The code still should do the same thing, I just removed things like variables that were only used once.
As with all the pull requests I am making, I don't think we should commit them until they have been tested with the robot.