Beautify the glue code

[chlohal]

Right now, 90% of ExampleTeleopCarouselDualController's loop() method is "glue code"/"middleware". It takes a value from the InputManager and calls a method in one of the others.

Can we automate this?

I don't have any implementation ideas for how we'd do it, but it'd be cool if all of that could be simplified-- like the PriorityAsyncOpmodeComponent does-- and made understandable.

Challenges

• Some nodes rely on each other (like ClawDown having to check ClawUp)
• The else statements-- code needs to be ran when nodes aren't true
• Current code relies on being in the same loop (e.g. the toggle dashing bit)

Implementation Ideas

Okay, I lied. I have a few.

• Some kind of "constraint" system to fix challenge 1. Something like

  input.registerConstraint( new OneOfConstraint("ClawDown", "ClawUp"));

  would make it so only one of ClawDown/ClawUp would be activated at a time. This would solve the issue of having to check them, but I have no idea how we'd do it.

[chlohal]

Challenge 2-- we could put the if/else inside the proposed lambda. Baby steps! It's not all going to be pure nodes :)

[chlohal]

Obviously, if we do do this, it would need the cooperation of everyone, and it won't be done soon. We can think about doing it after our competitions.

[chlohal]

Having some ideas about this; started work on the entirely-nodes-teleop branch

[Mario-Runner]

I've optimized Teleop in DualControllerFools quite significantly to primarily use nodes instead of large numbers of if statements in loop.