Note Viewer

• Added autonomous mode selector
• Stubbed in several auto modes, in commands.autonomous module
• Added Rotate_To_Angle_Find_Limelight command. This is basically test turret code currently running on Octa drivetrain. If it sees a LL target it rotates to center it. If it cannot find the target it rotates until it's in view, then aligns.
• Lots of wiring
  • Wried everything to PDP
  • Wired PDP to VRM and PCM
  • Labeled motors/motor controllers

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1. Continue wiring motor controllers, PDP, etc.

   1. Mount the breaker (vertical). See #mentors thread on Slack for pictures

   2. Run power wires from the pdp to the breaker and the battery area

   3. Mount the rio (sideways is best I think)

   4. Run power and CAN to the rio

   5. Change the PDP's can to be non-terminal

   6. Connect the drivetrain motors to the drivetrain motor controllers

   7. Connect the climber motors to controllers

   8. Create cables for limelight power and CAN from PDP to the turret area

   9. Continuity check the can bus before putting the indexer on

   10. mount the 3 Talons for the turret stuff on the right side panel (intake is front)

2. Details on CAN bus wiring - The plan was for there will be a poly piece put in front of everything (breaker / rio) to protect them. A cutout will be drilled for breaker access. The issue is the stiff 6 awg cable that needs to go from the breaker to the pdp. If the breaker is facing upwards, then the cable scrapes against the indexer. Mounting the breaker vertically forces the cable to bend out of the way. There may be a better solution though.The plan for the can bus is: start at the rio, go through the entire bellypan stuff to the pdp, go through the turret motor controllers, end on the turret

3. Continue testing vision stuff

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.
5. Continue following the trajectory tutorial. Pickup from just after the characterization tool.
6. Work out a method of wiring upper turret electronics, something really clean/clever will have to be done to make it all work, as nearly 10 wires need to go up there, including ethernet.

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