How To Replicate

Add one of the vision PID commands to be triggered when a button on the joystick gets pressed.

Symptoms

Robot reports that watchdog has not been fed in 20ms
Robot reports that one or more processes has exceeded 20ms
Robot disables itself

Possible Causes

Communication between robot and Raspberry Pi timing out?
Vision processing on Raspberry Pi taking to long?
Threading somehow messed up on the Pi?

Tune pipeline using ring light and retro reflective tape on the mock field.

This project needs a block diagram to make it clear to team members what will be developed.

It looks like the style is supposed to be K&R in this section, which means the }, else, and { should be on one line like so:
} else {

Allman style is like this, but seems to be less popular. Please don't mix the two.

if (condition)
{
code;
}
else if (condition)
{
more code;
}
else
{
more code;
}

When less critical things are going on, I'll go through and fix all of the whitespace issues in the code by turning tabs into spaces and ensuring that everything is indented by 2 spaces.

The changes for IntakeCargo from 19938bb need to be cherry picked to master or the IntakeCargo command won't work.

The garbage collector will probably clean up eventually, but this is still very bad. This line is perpetually creating a new command instance. All new command creation for smart dashboard should be done in the robot constructor.

The VisionGantryAlign command group will not run as written because the constructor will never terminate, thus no commands will be executed. This may set off the watchdog timer.

Sriram said that the testing branch was going to be used for development and that testing branch changes would then be pushed to master. The behavior I've been seeing though doesn't reflect this idea. Andrew, Sriram, and Tejas are committing code directly to the master branch instead of to the testing branch. Also the README for the project indicates that the testing branch will be rebased with master (i.e. merge master branch changes into testing) rather than the other way around. Is the README correct or is testing supposed to be used as a development branch?

A timer shouldn't be started in the constructor of a command because the constructor is executed when the command is created, not when it should be run.

We must determine which motors are going to be connected to which motor controllers and update the RobotMap accordingly.

Test / Tune Climbing Code
Test / Tune Vision Code
Test / Tune Command Groups
Test / Tune Commands (+ Fix Robot Mappings)
Test / Tune Autos

1. Fix Wiring & Current Control such that we don't lose comms in matches
   Swap RoboRIOs
2. Faster Gantry (In With-holding Allowance)
3. Test Motion Magic on Drive-train
4. Test Autos & Tune PID
5. Fix Vision

Something is wrong with the indentation of this function. Perhaps spaces and tabs were mixed.

ToggleCommand does not toggle between two commands.