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• Octa
  • Fixed Octa's left DT encoder code issue
  • Restored Octa's drivetrain stuff to the drivetrain subsystem class
  • Made Rotate_To_Angle command work again, bound Y key to it, turning 90 degrees using gyro
• SabaZ
  • Installed 2020 robotpy, ctre and numpy and CTRE Lifeboat server on SabaZ
  • Vasista updated firmwarre on motor controllers
  • Vasista working on updating SabaZ code to work with 2020, mainly to verify we're ready to cut over to 2020

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1. Determine what sensors, switches turret + shooter will need, get those on BOM if we need to order.  As of right now we're planning to build 2 turret+shooters.

2. Continue testing vision stuff

   1. Maybe move limelight from Frisbee to Octa?
   2. Create DT command to align the robot with the port target, using the limelight's "tx" value from NetworkTables
   3. See if we can get the limelight to tell us distance-to-target for setting shooter range/speed
   4. Until we have a working turret shooter to play with, we can continue working towards making the robot rotate to align to a target using shortest path, but also handle cable bundling we'll have on the turret.  Meaning the turret won't be able to spin > 360 degrees, it will need to rotate the other (long) way sometimes to keep slack on the cables. We haven't written PID code like that before, so something to explore.
3. Get drivetrain sensors working again on Octa, start working towards autonomous stuff
   1. Create a drive command that moves robot straight X feet.  Drive correction can use either gyro or DT sensors, we've done both in the past codebases.

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