Shooter subsystem code

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Implement the code for the 2013 Shooter subsystem.

Original issue reported on code.google.com by jtec...@gmail.com on 25 Jan 2013 at 7:26

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Original comment by jonie4 on 26 Jan 2013 at 3:28

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Original comment by jonie4 on 26 Jan 2013 at 7:23

• Changed state: Started

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Original comment by jonie4 on 26 Jan 2013 at 10:48

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Possible control modes include:

1. run the shooter at a constant 8V
- This can be accomplished using the Jaguar in constant voltage mode
(CANJaguar:kVoltage)

2. run the shooter using Jaguar constant speed mode
- target speed should be based on 8V motor voltage.  Thus, need to measure the 
shooter speed at 8V motor power, to determine desired set point.

3. run the shooter using cRIO PID control (if Jaguar control doesn’t work 
reliably)
- This is a fallback if Jaguar-based speed control doesn't work reliably

4. run the shooter using manually adjusted speed control
5. run the shooter using manually adjusted power level (voltage)
- These two options allow the operator to adjust the speed or power level 
manually.
- These are not necessarily separate modes, but may be extensions of modes 1 
and 2/3.
- Not mission-critical functions, but are desirable to fine-tune the system.
- Requires operator controls on the control board
- Desirable to log the manual control adjustments for post-match reference, so 
that code adjustments can be made (eg, adjust the default value)

In any case, we'll need operator controls to switch between whatever modes are 
implemented.  Minimum expected modes are #1 and #2/#3.  See also Issue 7.

Original comment by jtec...@gmail.com on 11 Feb 2013 at 2:18

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Notes from the 2013/02/23 code review can be found here:
https://docs.google.com/document/d/1QjTGGwuZLM6A_PFY87g1bek20fv0xh3uvW1hRCjAUFA/
edit

Original comment by jtec...@gmail.com on 24 Feb 2013 at 10:18

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Original comment by jtec...@gmail.com on 15 Mar 2013 at 9:30

• Added labels: Milestone-CASA

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Original comment by jarr...@corr.org on 30 Mar 2013 at 11:37

• Changed state: Done