[WIP/Tracking] Roboclaw Appendage Complete Integration

[robobenklein]

Tracking PR for finishing the Roboclaw appendage. (Not to be merged until spine can communicate all the way through to the drivetrain.)

Important Changes:

• Includes Navigation/dev
• Includes Appendages/roboclaw
• Includes Robo/docker-go-script
• Includes Arduino_gen/dev
• Ultrasonic & Servo appendages
• Fixes most of RIP CmdMessenger (in HACK-style)
• Additional changes to integrate and fix other bugs that arise during testing.

Questions & TODO:

• Roboclaw/dev: @solsane does this need to be integrated here at all? (Perhaps not?) @solsane opinions? After comp Todo
• Navigation/localization: will need to be brought up to dev (might need to change how we're getting localization info because of this) @amessing your feedback requested
• Periphery/dev: Do things in this PR need to be changed so that they make use of the new periphery features? #48 (Should this be included in the integration if so?) Who will check this?
• [x] Add remaining RoboClaw commands (like encoder info, additional commands from source library) @solsane and @xxAtrain223
• [x] Roboclaw library into https://github.com/utk-robotics-2017/ArduinoLibraries ( @solsane ? )
• [x] New arduino_gen appendage config for teensy ( @robobenklein ? )
• [x] Add RoboClaw appendage diagnostic. @solsane just wanna C+P from your old diag? (spaghetti code much?)
• [x] Add documentation and help flags for all the scripts new features ( @robobenklein )
• [x] Low priority: add script to ease copying and deployment of emulated-built targets to pis.
• [x] Obsoletes https://github.com/utk-robotics-2017/rip/issues/62
• [x] Need to update #38 #39 #41
• [x] Unit testing for CmdMessenger is 100% screwed over. Someone please look and see if this is an easy fix?

Please review the changes here and begin submitting feedback now.

Right before merge checklist:

(In order to reduce chance of merge conflicts during the work...)

• [ ] Fix indentation levels (currently mixed tabs and spaces)
• [ ] Remove a lot of extra cout statements, convert some to RIP logger debugs.
• [ ] Check in with roboclaw/dev and @solsane so they can get any important changes / potential problems from here onto that branch.
• [ ] Perform complete production-mode test
  • [x] Build hugo in production
  • [x] Copy to robot
  • [x] Build teensy appendage with arduino_gen and upload for orange
    • [x] 3 Roboclaws, 6 ultrasonics #22 , 4 servos #23
  • [x] Run roboclaw diagnostic to ensure each motor controls correctly
  • [x] New robot repo for competition bot??? ( whoever does see @robobenklein for specific cmake commands needed to separate build artifacts )

[codecov[bot]]

Codecov Report

Merging #66 into dev will increase coverage by 2.57%. The diff coverage is 50%.

@@            Coverage Diff             @@
##              dev      #66      +/-   ##
==========================================
+ Coverage   91.68%   94.25%   +2.57%     
==========================================
  Files          70       45      -25     
  Lines        4364     2280    -2084     
==========================================
- Hits         4001     2149    -1852     
+ Misses        363      131     -232

Impacted Files	Coverage Δ
arduino_gen/include/arduino_gen/argument.hpp	100% <ø> (ø)	:arrow_up:
arduino_gen/include/arduino_gen/appendage.hpp	100% <ø> (ø)	:arrow_up:
arduino_gen/include/arduino_gen/exceptions.hpp	80% <ø> (ø)	:arrow_up:
arduino_gen/test/test_arduino_gen.cpp	93.05% <0%> (+1.6%)	:arrow_up:
arduino_gen/src/constructor.cpp	90% <100%> (ø)	:arrow_up:
arduino_gen/src/appendage.cpp	76.41% <48.27%> (-6.42%)	:arrow_down:
arduino_gen/src/argument.cpp	66.66% <61.53%> (ø)	:arrow_up:
arduino_gen/src/arduino_gen.cpp	94.47% <65.38%> (-4.48%)	:arrow_down:
core/utilities/cmd_messenger/src/command.cpp
core/motor_controllers/src/motor_dynamics.cpp
... and 19 more

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[argvrutter]

Roboclaw/dev is going to probably be a post-competition merge.

[argvrutter]

Periphery/dev probably shouldn't be merged for now. Peripherycpp hasn't been verified on hardware yet, the branches being merged just use the external periphery. Moving to peripherycpp is something that should happen but just not pre-competition.