- trying to access absolute encoder
- change inputs for test shooter command to be closer to the final desired controls

- update wrist(arm) pid constants
- update wrist positions
- update controls for competition, closer to being finalized

- increase current and accel limit
- add option to not optimize wheels for potentially temporary fix for fast direction changes
- cube-like filter for driver rotation input

also, temporary swerve code

- update path planner lib
- get odometry working, also based on alliance, posted to Field2d

- visualization will be shown in auto

- this is the current code for competition at Waterbury

- autos calibrate gyro properly
- adjust shooter angle

- adjust speaker and amp positions
- speed up index
- make autos drive further, make another auto to drive event further

- increase index speed
- adjust arm angles to moved encoder

- intake test inputs for both deploy and rollers
- preset pid for rotation tested, position still to be tested

- aiming shooter command
- photosensor
- climber test code
- arm visualization
- slow drive when arm up

!! Limelight port forward is for being able to access limelight config through USB tether

rip districts
- adjust auto aim speaker known values for lerp
- make method to check what alliance robot is on
- add aim shoot auto, untested in competition but should work
- stop automatically configuring gyro in auton to prevent funny, and any necessary changes to keep auton routines the same to adjust for no gyro change
- increase some PID constants to reach setpoint quicker
- further adjust shooter slowdown when reaching amp do prevent bouncing
- change how gyro angle getter works