End Effector subsystems need a manual mode in case sensors break #17
Description
Everything that is controlled by a sensor/PID loop needs to have the ability to disable the sensor and operate in "dumb" mode. The current sensors and their subsystems/uses are:
- Tachometer - Shooter, shooter speed
- Azimuth Encoder - Shooter, shooter azimuth
Each specific sensor should have a toggle, not just the entire subsystem. For example, turn degrees and drive straight rely on the gyro. We should be able to disable the gyro and still have drive straight (which relys on the encoders) be "smart".
Suggestions for how to implement "dumb mode"
Shooter Speed - Divide the specified RPM by the max possible RPM (stored as a constant). This will give you a value on the range 0 to 1, which can be used to directly set the motor speed.
Shooter Azimuth - Time based, same as turn degrees, measure the rotation speed of the turret and use that