CACAC District Qualifier Event + CANCMP NorCal State Championship

[Kachow2323]

Vision

• Rewrite to combat memory leak and bad malloc issues.
• Single-Tag Handling and Filtering handled separately
• Improved Multi-Tag Handling and Filtering allowing Full Field Localization
• Fixed NPE issue with decreasing tag fiducial in one observation cycle
• Documentation: LINK

Autonomous

• Added Single Swipe routine for both Left and Right side.
• Fixed driveHubLock not working in autonomous
• Implemented a WIP custom CrossBump Auto Command
• Implemented a WIP [Left] and [Right] Double Swipe Auto
• Implemented a WIP [Left] and [Right] Disrupt Bump Bot Auto

Button Bindings + Extra"

• Added Shot Compensation on Driver
• Rm toggleWarm on Operator
• Tuned PID values used in driveHubLock for finer control
• Added PASSING Interpolating data for Full Field Passing Abilities
• See RobotContainer for other changes.

Elastic Dashboard

• Match and Shift Timers Added

Hood

• Automatically ducks (trench mode) when not deployed.

Pivot

• Current Limit: 70 -> 50

Agitator

• Current Limit: 50 -> 15

Indexer

• Current Limit: 65 -> 50