[TASK] get rid of speed limit around trench

[maya-burke]

Description:

Since the hood stays down permanently unless shooting, the slowing down during the trench is just annoying. Especially when just moving through the trench it feels unnecessary slow 😔

Category:

• Documentation
• Refactoring / Cleanup
• Testing
• Tuning/Calibration
• Setup / Configuration
• Other:

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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:

RobotContainer.java

Resources:

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Screenshots/GIFs/Videos:

[skrunked]

I don't know how I feel about completely removing the modifier, I still want to be safe when passing underneath. The current modifier is 60%, we'll try raising it to 80 and potentially look at making the modifier a gradient (increases gradually from slow back to 100 when leaving trench, vice versa when entering). Should be a relatively simple change (single line if we don't try to do the gradient, but, then again, the gradient shouldn't take long either), don't bother starting this until our next practice field visit. If all else fails, sure, we'll just remove the modifier, also a one line change.

[skrunked]

We'll try this out tomorrow, first by making the limit to 80%, before removing it outright. Might try to figure out the gradient-ing, might not.