Move things to library

[rmheuer]

So far, moves gyroscopes, swerve, and subsystem switches to library. Currently broken, turning does not work properly for swerve

[rmheuer]

Turning fixed, turns out vision was interfering due to latency from multithreading undoing the last periodic's simulated gyro rotation. This is not a problem on the real robot since vision cannot physically rotate the robot, so the vision pose will catch up to reality after the latency period ends.

[rmheuer]

Why we want this branch because Mason asked this morning:

• Allows the team to reuse drive base code between seasons and have a full drive base with PathPlanner working in about 10 minutes
• Allows using the same subsystem code for different motor types (such as if we want to put NEO swerve on Nessie)
• Makes it more clear what direction motors, gyroscopes, and encoders operate in since it uses the Angle library
• Every motor, encoder, etc. has the same API and has reasonable units (unlike CTRE) regardless of device type or manufacturer
  • This makes programming training easier since people don't have to learn how each vendor library works individually
• It is possible to swap out the hardware implementations for simulated equivalents, allowing for simulation to be fully decoupled from the robot code
  • We can use this for more physically accurate simulation (such as simulating the motors and PID in subsystems)
  • We could also use this to create a 3D simulation of the full robot, that can run the actual robot code

[mvog2501]

There's so much to review here, gimme a bit.

[lorenzogood]

There's so much to review here, gimme a bit.

Part of it was the formatting bot, if you exclude those commits then you loose 17k lines.

[rmheuer]

Don’t merge this yet, I need to fix the formatting

[rmheuer]

Still need to verify CANCoder angle direction is correct using robot, then this can be merged

[rmheuer]

Need to double-check encoder and motor directions are being used properly in robot code, then this should be mergeable