Buy chips task

[Azimath]

The buy chips task begins when the sub has detected that it has navigated to within vision range of the chip dispenser(s). The task ends when the sub has collected the maximum number of chips. The next task should be acoustic navigation to proceed to the active pinger, making no initial assumptions as to which task is at the pinger. The task is responsible for tracking the dispenser button and tray, commanding the manipulator to pick up the golf balls, pressing the dispenser button, and keeping track of how many balls are in the manipulator.