Summary
We're probably going to play a lot of defense at Houston, so we need to be prepared. We need to bring the arm in, and then not move it regardless of what the arm sensor says, and then lower the intake so it's basically touching the bottom of the robot.
Work Required
bind a button to a command (this can just be an ArmSetState command) that brings the arm in
the presets need to bring the arm in and then lower it into the robot (so we need to make new presets in parameters.TOML)
have a 'defense mode' command that makes the arm ignore the sensor readings and not run any motor output
this will probably require making a new control mode--like ManualControl and AutoControl and TestControl--and an associated function for it
Summary We're probably going to play a lot of defense at Houston, so we need to be prepared. We need to bring the arm in, and then not move it regardless of what the arm sensor says, and then lower the intake so it's basically touching the bottom of the robot.
Work Required
Verification