Post sfr development (#73)

* reenable akit nt publishing

* make swerve use velocity further down voltage control

* re added teleop velocity drive

* some current control tuning

* continue tuning swerve current control

* autolog shooter isAtGoal

* require shooter pivot to be nonmoving to be at goal

* revert overriding drive conversion factor

* switch autos over to choreolib

* more current control adjustment

* switch back to voltage control

* add more explicit acceleration feedforward

* more drive tuning

* remove teleop slew rate limiters

* bump swerve turn kp

* changed shootWithDashboard

* tuned fender shot

* adjust fender shot, choreo following, pose est

* disable supply current limit, preload choreo traj

* adjust 4 piece path

* make auto work only ampt 4 wing

* changed choreo tolerances

* made shooter automatically spin up

* adjust auto bindings to better use adjusted shooter defaults

* make robot not log active traj when on real robot

* slacken choreo follow traj rotation tolerance

* added source 4 centerline auto

* reenable vision, adjust shooter default command

* adjust source 3 auto. pose reset is fucked

* reenable pose vision updates, switch to pose for choreo following

* adjust ratio and theoretical kv for dt in code

* increased intake current limit

* regen paths w new ratio

* reenable shooter prespin

* fix amp heading snap

* move shooter prespin back to operator, rumble op on intake

* run spotless

* wait to switch to amp mode until shooter is down may be breaking

* fix open loop drive

* reduce shooter angle when rejecting

* add climb ratchet servo

* make elevator retract past hardstop for climb

* unlock on enable

* port vision constants, adjust auto shooting, adjust auto paths

* make swerve estimator private

* run spotless

* update new camera matrix

* properly import camera constants, set amp 4 as default

* make autoaim aim to center of hood, not wall

* bump shot angle for 3m

* adjust shooter, intake, and carriage locking for auto shots

* scaled vision stddevs for distance

* change last beambreak to not first beambreak

* controller vibration stop on disable

* beef up shooter and swerve dependencies with repeating sequence

* adjust 5 amp

* adjust 5 amp auto, add heading controller logging hooks

* adjust source 4 path

* adjust climb button binding

* tuned heading controller and vision stddevs for auto

* delayed intake for auto

* made intake ramp up

* additional tweaks to increase auto spinup reliability

* add feed button

* add speaker heading snap

* run formatter

* cancel shooter spinup on autoaim start

* adjust autoaim and prespin to avoid sad cases

* adjust source 3

* make current limits more aggressive

* adjust source 3

* adjust source 3 more

* adjust rotation tolerances

---------

Co-authored-by: Lewis-Seiden <[email protected]>
Co-authored-by: Lewis-Seiden <[email protected]>
Co-authored-by: spellingcat <[email protected]>

simgui.json

@@ -11,6 +11,7 @@
       "/AdvantageKit/RealOutputs/Elevator/Mechanism2d": "Mechanism2d",
       "/AdvantageKit/RealOutputs/Shooter/Mechanism2d": "Mechanism2d",
       "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Auto Chooser": "String Chooser",
       "/SmartDashboard/Run Elevator Sysid": "Command",
       "/SmartDashboard/Run Flywheel Sysid": "Command",
       "/SmartDashboard/Run Pivot Sysid": "Command",