Test Mode

[danielbrownmsm]

Summary Add test mode back in and make it work. Basically, if you click 'test' on the driver station and then hit 'enable,' the arm should calibrate and then remain in place. Pressing the buttons on the gamepad should make it increase/decrease the arm/extend setpoints by a little bit so we can figure out what the setpoints need to be.

Work Required

• add commands for test mode
• add button bindings for test mode
• make test mode work with the driver station

Verification

• CI passes

[danielbrownmsm]

nevermind all that

[danielbrownmsm]

Work Items:

• make a test mode button on shuffleboard
• do the same thing for test mode that we do for manual mode in Arm::Periodic()
• whenever we enter test mode, instead of setting control mode to test, set the shuffleboard entry for test mode to true

[X-EX3-X]

In master, awaiting testing