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Make ! assertions return true instead of undefined (#66)

* Make ! assertions return true instead of undefined

Mirrors the & assertion change:  now returns Parser<true> and
value: true so that negation assertions can also be distinguished
from undefined when used in optional positions.

Co-authored-by: Daniel X Moore <STRd6@users.noreply.github.com>

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Co-authored-by: claude[bot] <41898282+claude[bot]@users.noreply.github.com>
Co-authored-by: Daniel X Moore <STRd6@users.noreply.github.com>
Co-authored-by: Erik Demaine <edemaine@mit.edu>

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