Feat/arm tests (#43)

* added Manual Arm Command and fixed errors

* added one of the relative encoders for the arm motors, and made ProcessIO actually get called in ArmIO

* added logging for part of the arm

* fixed joystick stuff for second driver

* added relative encoder to Sensors

* arm logs (the oldest one should be with additional weight, the others are bare)

* added button bindings

* added teleop commands to branch

* fixed errors

* fixed errors

* fixed errors

* added arm tests

* added arm PID values to parameterss.toml

* fixed errors in arm unit tests

* added absolute encoder to arm

* added another arm command and fixed other files

* fixed errors and renamed absolute encoder

* added arm commands and mimit switch

* added limits and other aditions to ArmIo.cpp

* reduce arm soft limits to +/- 110 degrees instead of 180 degrees

* removed excess logs

* fix warnings from unit tests

* added shuffleboard stuff

* fleshed out claw subsystem with actual functionality

* claw parameters

* raised power limits, fixed arm encoder wrap around and lowered arm soft limits

* shuffleboard stuff for arm

* PID coefficient tuning

* don't move the arm unless a setpoint has been set yet (like last year's intake code)

* logs

* remove logs

* add unit tests back in

* fix unit tests

* move the PID stuffin Periodic() for arm into a separate AutoControl() method to keep switch-case clean per Justin's comment in #43

* commented Claw subsystem

* indendtation fixes

* parameterized some magic numbers that were in the ArmIO code

* moved button bindings to ConfigureButtonBindings where they should be

---------

Co-authored-by: okcroboticsteam <okcroboticsteam@gmail.com>
Co-authored-by: danielbrownmsm <daniel.brown@msmrockets.org>

Author: 3 people

.vscode/settings.json

@@ -86,6 +86,8 @@
     "cinttypes": "cpp",
     "typeindex": "cpp",
     "typeinfo": "cpp",
-    "variant": "cpp"
+    "variant": "cpp",
+    "charconv": "cpp",
+    "forward_list": "cpp"
   }
 }

build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.2.1"
+    id "edu.wpi.first.GradleRIO" version "2023.3.2"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)