AcquireMiner State Machine
This state machine begins once the SPUD is notified that permits are issued. Immediately, the TRACTOR will begin turning until it detects a MINER through IR detection. The TRACTOR will continue to course correct until the IR sensor detects a beam break, signaling that the MINER has successfully entered the plow. The TRACTOR will turn on its electromagnet to lock on to the MINER, and then call on the Zigzag state machine to drop off the MINER at the correct location. Once the MINER begins mining, the TRACTOR will release the MINER and flash victory lights.