Assisted intaking

[saikiranra]

Opening PR to write comments

Closes #66

[saikiranra]

Need to also add button bindings to make sure it only is intake assisting in teleop when holding down the intake button or in auto when a specific intake command is used.

[saikiranra]

Does this function need to exist? Or should Swerve.sendSwerveRequest call getRobotRelativeAssistSpeeds when in one of the assist modes? Seems easier to me to just call it in one of the assist states in Swerve.

[jonahsnider]

yeah most likely the way you want to do this is have a collectInputs in swerve which calculates the intake assist offset (but only when in an intake assist state), stores that in a field, and then adds the offset in sendSwerveRequest()

[jonahsnider]

Need to also add button bindings to make sure it only is intake assisting in teleop when holding down the intake button or in auto when a specific intake command is used.

Discussed this a bit with Fernanda last meeting and it seemed like the simplest approach is

• For teleop, use intake button onTrue for assisted intake, and onFalse for regular intake
• For auto, the intake event marker will run an intakeAssistRequest(), no special stuff needed there

[jonahsnider]

yeah most likely the way you want to do this is have a collectInputs in swerve which calculates the intake assist offset (but only when in an intake assist state), stores that in a field, and then adds the offset in sendSwerveRequest()