Prep for shoot while shoot is pressed and driving

[themehdev]

• Lets driver drive until robot is aimed at the hub
• If robot is aimed at hub, X wheels
• Continue checking for rotation
  • If drivebase is off rotation, repeat.
• Should allow driver to have more freedom against defense, but retain shooting functionality
• If driver starts driving again, it will stop shooting but continue to stay in a "tracking" mode
• Should be much better against defense than current shooting logic
  • Allows for both more driver control
  • Xs wheels to make robot harder to move during defense

[blaze-developer]

I think we should revisit shoot on the move and how that impacts our protection against defense (like moving away from the defence while shooting) before merging in or changing things with the shooter so that we know what direction we want to take.

Otherwise these could be good ideas if we decide to take that direction. We can also look at the shaking in both scenarios, and start to experiment with improvements, with multiple people's involvement and ideas.

[themehdev]

I think we should revisit shoot on the move and how that impacts our protection against defense (like moving away from the defence while shooting) before merging in or changing things with the shooter so that we know what direction we want to take.

Otherwise these could be good ideas if we decide to take that direction. We can also look at the shaking in both scenarios, and start to experiment with improvements, with multiple people's involvement and ideas.

TBH idk how much shooting on the move would have helped, as just xing the wheels against defense and being able to move away when the angle is off may be better. Not saying that shooting on the move is bad but being able to continue to have the shooter wheels spun up and the drivebase pointed at the target may be better just because when we are not moving the wheels can be xed which I think may be better against defense.

Not that shooting on the move is bad, just after driving it I think that this approach will work better. However, an approach that allows both of these simultaneously will likely be the best.

[blaze-developer]

We will investigate variety of solutions available to us and determine what brings the most value to our robot.