Bot Integration

[linglejack06]

• fix offsets, ids, pid gains for drive
• fix intake code (still needs banner sensor added)

[linglejack06]

@aidnem @jkleiber We got intake working last night, it can pick up and reverse notes by driving into the note. Too much friction to pick up note at a stand still. Justin asked me to ask if you could get the aimer subsystem working before wednesday. One thing that needs to be added to it is a way to get the position of the aimer for use in intake (ie when aimer is at bottom position and aligned with intake then we can fully intake note). In the meantime, I'll try to finish the alignment for testing tomorrow and add the banner sensor support to intake. I think aimer has a banner sensor too to add.

Ideally, we would have intake intake into holding zone, then if aimer is positioned correctly we can continue intaking, if not we would command arm to move downwards and then run intake into arm.

Let me know how that sounds or if you want any different sort of process for intaking and aiming.

[jkleiber]

@linglejack06 can we fix the merge conflicts on this branch and get it merged sometime today? Then we can create a fresh branch for shooter/aimer integration

[jkleiber]

@linglejack06 fyi I just merged @minhnguyenbhs PR for renaming the IO interfaces so there are more conflicts now. They should be easy to resolve though

[linglejack06]

@jkleiber merged main into branch, just needs to be re reviewed and then i can merge into main

[linglejack06]

@jkleiber the renaming of intakeIOInputs to intakeInputs and all the other renaming is throwing errors on my vscode, mentioning it cant format class, but build runs fine

[linglejack06]

also, i have added a null check for the module states and module targets array. I noticed in sim that it was crashing as the very first time periodic ran there were no states yet so they were null.