Seamless Amp

[aidnem]

Purpose
The purpose of this addition is to ensure that the process of scoring in the amp is as easy and consistent as possible.

Project Scope

• Add an amp-tuning mode (similar to shot-tuning, should allow us to set a setpoint for aimer, control to that point, and then shoot a note out the back of the kicker).
• Use amp-tuning mode to find a good aimer angle for scoring into amp.
• Test in teleop to see if/how we can streamline the process for mashers. Currently the process is as follows:
  • DPAD Right (enter amp mode)
  • Right trigger (warmup, will raise arm to amp position)
  • Right bumper/Y to spit note into amp

[aidnem]

@jkleiber This is a rough draft of what we need to do to fix amping. Suggestions on how to improve this are welcome.