[FEATURE] Trench Alignment

[skrunked]

Description:

The trench zones already exist, but after #75, they will not be necessary for hood control. Consider adding an alignment mode that centers the robot both rotationally and on the Y axis when approaching the trench. Definitely didn't steal this idea from 5000... We can also look into predictive trench alignment, lining us up if we'll be under the trench within ~0.25sec, but I'm less concerned about that, and it requires more lin alg :(.

Type:

• New Feature
• Improvement to Existing Feature

Category:

• Software
• Controls/Mechanism
• Controllers/Buttons/Human Interface
• UI/Dashboard
• Logging

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Urgency

• Nice to Have
• Important
• Critical

Impacted Modes:

• Disabled
• Teleop
• Auto
• Simulation

Impacted Systems:

• Drive
• Vision
• Autonomous
• Logging
• Mechanism(s)

When?

• Periodic
• Init
• Command

File(s) of Focus:

Drive.java
DriveCommands.java
PositionDetails.java
positionDetails.json

Resources:

https://github.com/hammerheads5000/2026Rebuilt/blob/main/src/main/java/frc/robot/commands/TeleopDrive.java

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Screenshots/GIFs/Videos: