add ability to stop lineup by moving joysticks

[linglejack06]

• lineup will stop running if any field centric speeds are passed to the robot with greater than 0 velocity (angular, vx, or vy)

[linglejack06]

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joystickOverride.mov

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[linglejack06]

@jkleiber @aidnem aiden mentioned this was something we wanted so i went ahead and added it and attached sim proof so we can merge. pretty simple change

[linglejack06]

@aidenm someone review????

[jkleiber]

@linglejack06 @aidnem why do we need this? Can't the driver just stop lineup by letting go of the score button?

I'm worried that adding this will result in us accidentally canceling lineup in teleop. I don't recall this being an issue but maybe I need to talk to Oliver about what they want

[linglejack06]

I think if we were to stop pressing scote trigger, the elevator would go down right @aidnem

So this allows over riding lineup while still having ability to manual score. Without having to enter manual mode

[jkleiber]

I see, thanks for the explanation

Would like to test this on the robot before merging tbh. I think the code looks fine though

[jkleiber]

In shop testing report: this does not work

The robot no longer aligns and auto scores randomly into the ground. I think that very small joystick movements are kicking us out of lineup and then for some reason that causes a score once the scoring subsystem is in position

We need a cleaner implementation that waits for driver manual score if this scenario happens

[linglejack06]

Ok that's weird, just lmk how you'd like it to be setup and I'll update

[linglejack06]

In shop testing report: this does not work

The robot no longer aligns and auto scores randomly into the ground. I think that very small joystick movements are kicking us out of lineup and then for some reason that causes a score once the scoring subsystem is in position

We need a cleaner implementation that waits for driver manual score if this scenario happens

Issue with scoring makes sense, drive lined up gets set to true when we exit lineup. Maybe joystick headband is too little as to alignment cancelling without desiring it too

[aidnem]

@linglejack06 maybe we could just set is drive lined up to whether or not it's actually lined up on exit instead. Also maybe having a wider dead band on joysticks for leaving lineup would be good.