Implement framework for scripted autonomous

[jkleiber]

Summary This year, we would like to have our autonomous commands come in via an external file rather than being hardcoded into the software. This will improve how fast we can tune autonomous routines and keeps the door open for auto-generating autonomous trajectories eventually.

Work

• Define a format for our autonomous file to read (probably use TOML, but see if that works and how each action should be formatted)
• Create a framework that reads in some file (default for now, as a parameter) and parses it for autonomous actions
• Given the parsed actions, execute them as scheduled during autonomous
• Add unit tests for the parser as appropriate (deferred: loading the file in unit tests until CI can handle external files)

Verification

• Commands can be scheduled in autonomous via an external file
• Robot works in autonomous testing using simple commands for now
• CI passes

[danielbrownmsm]

TOML supports arrays. I'm thinking maybe an example autonomous would look like:

[master]
autons = [drive_forward_auto, score_cone_auto]

[drive_forward_auto]
commands = [
    ["AutoSwerveCommand", 0, 0, 180],
    ["AutoSwerveCommand", 10, -5, 0]
]

[score_cone_auto]
commands = [
    ["AutoSwerveCommand", 10, 0, 0],
    ["SetArmCommand", 90],
    ["SetArmExtendCommand", 15.2],
    ["SetClawCommand", "open"],
    ["AutoSwerveCommand", 0, 0, 180]
]

[danielbrownmsm]

but this could also definitely be a pain in the butt to implement

[jkleiber]

That looks like a good place to start