Merging Smart Mode & Raw Mode BEFORE Comp ⏰

[WesleyMcGinn]

There were many great ideas for the robot program this year. However, due to the shortage of time, we will not be able to have all of it finished by the time we go to our first competition. We should be able to have the following features:

• [x] Swerve Driving
• [x] NavX-controlled rotational resistance
• [x] Immediate direction changes with button presses
• [x] Set Arm Positions
• [x] Controllable Claw
• [x] Automatic alignment with and collection of game pieces
• [x] Good-enough Autonomous

Unfortunately, some of these features are in smart mode, and others are in raw mode. Therefore, we must create a branch of code for our first competition that will include the features listed above at the cost of temporarily giving up the following features:

• Automatic Scoring
• Excellent Autonomous (Collect and score multiple game pieces)
• Auto Extreme for Teleop
• Game Piece Raising

[WesleyMcGinn]

In order to accomplish as much as possible before the competition starts, the following To Do list will be used on Wednesday, March 7th, 2023, with each step done IN ORDER:

• [x] Program autonomous system
• [x] Get new arm encoder positions
• [x] Ensure accuracy of claw encoder positions
• [x] Test new branch
• [x] Fix any bugs in the new branch
• [x] Refine arm motor speeds
• [ ] Fix cube/cone Automatic collection issues
• [x] Test Autonomous
• [x] Work on Autonomous

[WesleyMcGinn]

We were not able to fix the automatic game piece alignment, so it was moved to the Lakeview Milestone as we had no time for it at St. Joseph.

[WesleyMcGinn]

Because this branch of code worked out so well, we will merge it into main and build the remaining code off of it.