Ability to score on the speaker by shooting over defense

[dlpond917]

This is dependent on #22 being completed first

The lookup table used for managing shooter configurations should be enhanced to support two starting heights. From a given distance away from the speaker, we will typically prefer to angle the wrist from a low starting point close to the robot. But if there is another robot playing defense, we'd like to be able to lift the arm + elevator to move the shooter up from the floor. In that case we'd need a different angle for positioning the wrist.

The "height" stored in the lookup table doesn't have to be a number - it can just be "low" or "high".