Comp Merge

[ACat701]

AUTO TESTING:
-1. Finish adding event markers to the paths (Will be done before the meeting starts. its just intaking)

1. Tune Autonomous pid using a 1m by 1m square
2. Test WING Autos
   • We're mostly worrying about the zeroing of the pitch here
3. Figure out how far down the centerline auto can start
4. Test Centerline autos
5. cry

[ACat701]

@Alenguye582 The green ghost is the LEDs desired pose :D
ok I'm going to sleep now

[ACat701]

I will focus on making auto paths sometime tonight if I can. Here's the auto list I think is realistic for phr. Most of the autonomous work has already been done (sim is awesome); its mostly getting vision now and then tuning the auto pid/paths on the real bot.

We also (and i cannot stress this enough) NEED to test driving on the opposing alliance. I'm almost confident that we need to flip the driver controls in some way.

WING AUTOS:

Start at Top of Subwoofer, score all 4 in a line into speaker
Start at Bottom of Subwoofer, score all 4 in a line into speaker

CENTERLINE "DASH" AUTOS:

Start in-between the top and bottom of subwoofer, immediately score in speaker then do a mad dash (top down)
Start as low down on the field as possible, immediately score in speaker then do a mad dash (bottom up)

OTHER AUTOS

Start at the top of sub, immediately score in the AMP
Start at some other location and just shoot into the speaker (the point will be to be out of the way. where should this be?)

Heres my elegant visualization of starting positions

[ACat701]

@TaylerUva @Alenguye582 ^^

[ACat701]

Opening this pr not because it's ready, but because I will forget to open it when it is

[ACat701]

i will clean up this pr before Thursday (it is SO messy rn)

[ACat701]

@TaylerUva Take your time getting to this comment/pr; i am incapable of taking a break

I glanced over this entire pr for bugs. It has 33 JAVA files and i think i almost died in the process. I left comments and made issues for major things i noticed; otherwise, I think its okay. This pr contains all of our testing from the past week or so so its obviously huge