2019-Robot-B3

The code for the robot that will be presumably used at Boiler Bot Battle '19. This has been refactored from 2019-Robot to utilize TimedRobot over command-based.

Important notes/quirks

• ControllerWrapper and ButtonWrapper represent reimplementations of the former functions provided by Button
  • To map a button, you can reference the bA (read: button A) or dN (read: d-pad north) objects under ControllerWrapper
  • Map buttons using lambdas (anonymous functions): () -> Robot.manipulator.toggle()
  • Helper.deadzone() should pretty much never be used if you're referencing a ControllerWrapper, that functionality's built in
• TurnToAngleGyro probably will never be tuned, so don't use it
• Manipulator references both the ball and hatch intakes

Conventions

• All coding standards apply!
• When creating a subsystem, implement most subsystem-related functionality within it. Seperate classes are discouraged but sometimes necessary (see TurnToAngleGyro)
  • If there's a PID, make it part of the subsystem
  • Any subsystems with periodic methods should be handled with an update() method called in robotPeriodic()
• Use enums when representing multi-state systems (see ElevatorPosition) and booleans when representing two-state systems (see tilt brake)
  • Please don't use multiple booleans to represent the same system
• Some sensors should be singletons (see Camera) and some shouldn't (see IRLimit) -- use your own discretion