Add turret control & limelight

jcorcoran commented 2 years ago

Revise the robot code to bring back the turret subsystem

adjust the turret's heading based on target location.

Should be able to handle:

losing the target (moved out of field of view or blocked by a defender).
unwinding the turret heading 360 degrees if where the turret needs to turn to place the target on centerline is past an end of travel (the turret can't rotate continuously). Assume it can turn +/-1 revolution(+/-360 deg) from the zero position for now. Need to validate this number against CAD/real hardware

piltzintecuhtli commented 2 years ago

I can work on this

Shubbii commented 2 years ago

Could I also help work on this? Since it involves limelight?

Team2168 / 2022_Main_Robot