SOTM 2: Electric Boogaloo

[PickleFace5]

This new version is based off of this PR for the WPILib docs

I've added comments where need for documentation purposes and future use post-Rebuilt if needed.

A few things I plan to do before I'm okay merging this:

• Drag calculations
• Fuel sim integration for testing
• Performance tweaks (if needed)
  • I don't actually know if any will be needed, but if so most math can be easily translated into numpy

Hoping to get this done in a timely manner before week 2.

[PickleFace5]

This is good.

I should note that because of the turret changes that design has planned (as well as the time of flight parameter), the lookup table should be recalculated.

If we attempt to shoot from a distance greater than the maximum (or shorter then the minimum), we default to the closest sample recorded. Because of this, we need to make sure we have a sample at the minimum distance from the hub and the maximum. Keep in mind the maximum difference is GREATER then the long diagonal from the corner of the field, it's likely an additional meter more, due to movement while shooting and needing to overcompensate.

[clsnelson]

@PickleFace5 with the current game plan we aren't planning on using SOTM (other than passing) during week 2. I will reevaluate this after week 2, or if we get everything else done early.

[PickleFace5]

Fair enough, most of our shooting consistency is going to come from the design and mechanical changes to the feeder and shooter.

Also, a few things that we should still add to this:

• Cap max driving speed (see 5468's SOTM)
• Better turret positioning (latency compensation)
• Acceleration mitigation (might be way harder then I make it sound)
• Calculate robot speeds relative to the turret's position