Create cycle flow

[davidmuchow]

Hopeful cycle time: ? seconds

Auto: Shoot one w/ shooter sub & auto dock Teleop:

• Coach has strategy, tells manip which selection to make. Manip can then press the LED selector switch to present either cube or cone in light form (purple or yellow, which are the colors of the game pieces)
• Driver moves over to the station to grab a cone or cube. They can press the Game Piece Capture Position Hold button, or the start button, and that will move the Arm to the correct position to grab a game piece. While not holding this button, the arm will default position to around $\Large -{\pi\over{4}}$ radians. While this button is being held, the left bumper can be pushed, or the Attempt Capture button. This will close the grabber, and then enumerate if an object was actually grabbed via a limit switch. If so, the grabber will be locked UNLESS the driver overrides or until the Auto Pilot hold button is released after autopositioning.
• Manip has probably received instructions at this time on where to place the game piece. He will then select whether to place on the left, center or right of an apriltag representing a node group, and at which node position, low, middle or high. This is their most crucial step.
• The driver is going to drive over to the correct apriltag representing a node group, and hold down the Auto Pilot Hold trigger. This is going to remove full control from the driver if a game piece is present in the gripper and they are at a valid apriltag. This will also change the camera from the Drive view to the Arm view. While holding down this trigger, their gamepad gives them the ability to adjust the X and Y of the endpoint, which will automatically calculate a new arm angle and robot position. After all the PID controllers are within their setpoints and the Auto Pilot button is released, the game piece is dropped and then the arm is rotated back to $\Large -{\pi\over{4}}$ radians.

[davidmuchow]

• add recenter gyro

[davidmuchow]

• write BITs

[davidmuchow]

• change to swervedriveposeestimator