Drivetrain Subsystem/Commands

[isaacpatton72]

Develop the control logic for the robot’s drivetrain, which can either use omni-wheels or mecanum wheels. For both cases you will need to define a robot relative control method where you can rotate what the robot thinks is forward by some angle say theta. This angle may at one point come from the offset from what the robot thinks is forward vs where the turret of the robot is pointed at. These classes should likely be more generic where constants such as wheelbase length and width can be passed in at construction allowing you to use the same classes for the Hero, Sentry, and Standard. Hard coding is not the end of the world and may actually be better in the circumstance that something needs to be specific to one of the robots though as far as I can see a generic class shouldn't introduce too much additional complexity to the code. You're always able to talk to a team lead or respond in this thread about decisions so if you disagree feel free to.

Also don't forget that you will be required to write the methods in the control operator interface that will be used to fetch information like desired velocity and rotational velocity which will need to be calculated from WASD values along with things like the shift key for sprinting. Also, be sure to utilize the slew rate limiter so to scale up the desired speeds rather than going from 0 to max speed.