See graph here.
x = forward speed
y = turning multiplier

c = cheeziness (1 - transition point y)
b = transition point x
a = static turning limit
d = moving turning limit
t = joystick deadzone

Need to add deadzone into chassis class.

Most current code is on the Motion Profiling branch. After debugging for all except autonomous is complete, a pull request should be created to merge this branch into master. TODO:

Drive:

• Find good ramp rate for drive motors

Collector:

• Verify that positive values results in collection
• Find best collection speed
• Find best eject speed
• Find time to eject cube
• Find current for cube detection
• Set number of current loops
• Find best power for extender
• Find current for stalled extender
• Set number of current loops for extender
• Find best behavior for stalling (shake or spin)

Lift:

• Verify that positive values results in up
• Ensure that sensor direction matches motor direction
• Find best manual lift speed
• Set upper soft encoder limit
• Find encoder clicks per foot
• Find allowed encoder error
• Set max lowering speed
• Tune PID
• Calculate feed forward term
• Choose between motion magic and position control

Climber:

• Verify that positive motor values results in up
• Find best climber speed

Combined:

• Verify that Collect command functions with multiple calls to one command