Robot code doesn't currently handle vision "notOK" very well - fix to have good "plan b" fallback when vision "notOK"

[coach-streeter]

As of the Granite State District event, the robot vision-handling code did not have a good approach for "auto-targeting" when the robot didn't have "current" vision results. In general, the robot code used the old, out-of-date vision results, which, depending upon the exact situation (never had good vision results, such as at the beginning of auto, or had slightly stale vision results from just a second ago, or had old vision results from when the robot and turret were in a completely different position) could cause some bad behaviors.

With some time to dig into this more, should come up with a better solution for this.