Demo Mode

[SGOTI2]

It should be no surprise that 2024 is a great demo robot, being able to shoot notes for kids to catch and such. But there is an issue, 2024 is still has active competition controls and functions. The following changes should be made to simplify the operation of the 2024 robot:

• Presets need to be adjusted so they are based on distance and not position, (renaming)
• Removal of sub projects in the repo
• Removal of limelight code
• Removal of hang code
• Re-evaluate shooter PID controller (get rid of whoosh whoosh whooooosh when preheating)
• Redo controls to be more user friendly
• Make controls for adjusting drive speed, and shooter speed, but make sure that they can't be accidentally changed (to prevent people who don't know the controls from creating a dangerous situation).

  This may be achieved with a "settings mode" that activates when a specific button combo is pressed. Would maybe require a manual for robot operation and how the settings mode works. Though a manual on how the robot works would be useful in debugging frequent problems in electrical, mechanical, and programming. This control mode doesn't make it simpler but it would make it safer to give the controls to a kid. Kid mode maybe?

• Review and add safety measures to prevent injury and damage to the robot.
• Add notices when safety measures are tripped and how they effect robot operation.
• Add notice for overheating, low battery, and others

[SGOTI2]

• Remove arm code for the non-existent brake motor

[SGOTI2]

• Rename Calla and Sasha disable to Drive and AUX disable

[SGOTI2]

• Remove unused Arm::withinLegalLimit to prevent confusion
  

  thunderbot2024/src/main/cpp/GamEpiece/Arm.cpp

  Lines 55 to 62 in ca8a534

  	bool Arm::withinLegalLimit() {
  	bool legal = false;
  	units::degree_t degrees = getBoreDegrees();
  	if (degrees <= PREFERENCE_ARM.MAX_LEGAL_LIMIT && degrees >= PREFERENCE_ARM.MIN_LEGAL_LIMIT) {
  	legal = true;
  	}
  	return legal;
  	}

I wonder why the unused safety mechanism wasn't working at competition 💀

Apparently it was implemented in commit dd9535a which implemented break mode using the disk break. I guess it was assumed that this was used, and that it was used to prevent tomahawking, which it was not.

[SGOTI2]

• Speed modes using switch board, possible kid more switch for disabling advanced controls