this will invalidate some of the open prs. its ok.
subsystems
[x] acquisition should have two motors, a motor called sushiMotor and a intakeMotor. they should be separate and have separate methods, one to run (with a constant speed) .
[x] the laser should be a digital input laser called acqLaser with a get method. this was done in issue #45 just steal from that branch
[x] scoring should have three motors. a leftElevatorMotor and rightElevatorMotor. it should also have a rollerMotor. it should NOT have a loadingMotor. that will be moved.
[x] the left and right elevator motors should have all the methods they need. the rollerMotor should have the ability to roll backwards and forwards at constant speeds (dont pass in a parameter). this was done in issue #41 just steal from that branch.
[x] storage should have 3 motors. a left and right storage motor and a transition motor. the LR motors should be mirroreed and synchronized. the transition should be separate. all should have methods to run backwards and forwards at constant speeds.
[x] storage should also have two lasers! a top one and a bottom one, with get methods. this is similar to what was added in issue #45 but there should actually be two in storage and none in scoring.
[x] lift should have two motors. a left and a right. it should also have a left and right servo. this was already done in issue #54 just steal from that.
commands
update each of the commands they will all have errors. probably
there should be:
[x] a command to run the acquisition intake forward - it should stop running after the acqLaser no longer sees the note (up for debate)
[x] a command to run it backwards
[x] similar commands for the acquisition sushi roller, but no laser input
[x] a command to set the position of the scoring lift system
[x] a command to run the scoring roller forwards - runs off a timer
[x] a command to run the scoring roller backwards (to shoot) - runs off a timer, only shoots if the position is the amp height or high
[x] a command to run the transition motor - stops once the first storage laser stops detecting a note
[x] a command to run the storage motors - stops once the second storage laser stops detecting a note (debatable, might run off a timer after the first positive sensor return)
[x] reverse both the storage and transition motors
[x] commands to run the lift up and down
(update later)
this will invalidate some of the open prs. its ok.
subsystems
sushiMotorand aintakeMotor. they should be separate and have separate methods, one to run (with a constant speed) .acqLaserwith a get method. this was done in issue #45 just steal from that branchleftElevatorMotorandrightElevatorMotor. it should also have arollerMotor. it should NOT have a loadingMotor. that will be moved.[x] lift should have two motors. a left and a right. it should also have a left and right servo. this was already done in issue #54 just steal from that.
commands update each of the commands they will all have errors. probably there should be: