Assisted Cheesy - Cheesy with steering assist from vision (pre or post summation)
Full Auto - Vision controlled drive for distance and angle (fancy cosine based throttle control) Later versions throttle based off of angle and distance error
Buttons transition drive modes while button is held
Scoring action dictated by top level mode (hatch/cargo) - Hatch Run Wheels out Cargo Spit ball out with (100%) power
If in “Full Auto” mode, “Scoring action” waits for convergence on target
Operator:
Preset button heights change with which scoring mode is selected
Dpad control over scoring modes
ABXY are low, mid, cargobay, high presets
triggers/bumpers control scoring mechs
Intaking trigger brings elevator and cargo/hatch mech to the correct state for intaking as well as runs rollers
Make sure teleop and sandtorm controls are paralleled to button mapping spreadsheet