Added an auto routine that goes over the charge station, then comes backwards and balances. This code still needs to be tested on a real charge station and tuned accordingly, but all the logic is sound. PR also includes various refactor changes for the drivebase subsystem code, making it easier to read.
Added an auto routine that goes over the charge station, then comes backwards and balances. This code still needs to be tested on a real charge station and tuned accordingly, but all the logic is sound. PR also includes various refactor changes for the drivebase subsystem code, making it easier to read.