This is the code for 8891's offseason bot. This is our first swerve drive, with our mechanism just lifted off our tank drive, Jimather.
This robot is driven with an Xbox controller or equivalent.
The controls are as follows:
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Left Joystick Up: Forwards
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Left Joystick Down: Backwards
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Left Joystick Right: Right
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Left Joystick Left: Left
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Right Joystick Up: Arm extension
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Right Joystick Down: Arm contraction
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D-Pad Up: Claw up
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D-Pad Down: Claw Down
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D-Pad Right: Claw open
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D-Pad Left: Claw close
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Start: Reset gyro and claw
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Back (hold): PathPlanner score to balance
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Right Bumper (hold): Auto-centering score
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B: Debug print