Feature/hatch pid #82
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The cheesecake hatch mechanism replaced the version 1 hatch mechanism. Remove commands related to version 1 hatch mechanism. STATUS: Builds. - Justin C
Hatch controls were wired directly to the subsystem. Add commands and replace subsystem interaction with commands. Remove Grab/Release from Raise/Lower in subsystem. Let the commands coordinate those actions. Try using lambdas to isolate operator controls from commands. STATUS: Builds. - Justin C
We have three isolated subsystems each with one arm. We can afford to simplify names. STATUS: Builds. - Justin C
STATUS: Builds. - Justin C
STATUS: Builds. - Logan H-D, Justin C
Use PID to move hatch arm. Use rotation sensor to delay closing of gripper so hatch is fully seated. STATUS: Builds. - Justin C
Use PID to move hatch arm to mid position. Use PID to hold mid position. STATUS: Builds. - Justin C.
Add three vertical buttons from the operator console. Connect two buttons to Grab and Ready commands. Reuse LowerHatch command for third button. It disables the pid and controls the hatch motor while the button is pressed, which covers all the bases for the third button, no need for an extra command. STATUS: Builds. - Justin C
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Merge Logan's code that adds a PID to the hatch mechanism arm.
Three buttons in vertical column on right edge of operator console controls new commands.