Motion Profiled Auto Modes

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Using the talon motion profile mode and a custom auto drive thread, playback arbitrary csv files that represent auto mode trajectories. The csv files could include a field for commands as well so that a single csv file represents all actions taken during an auto mode.

This would require a csv auto parser that runs through the csv file and sets the talon setpoints while also calling other commands for acquisition and lift at the appropriate times.

https://github.com/vannaka/Motion_Profile_Generator/tree/v1.0.2 A modified version of this would work well for generating the auto modes for each side of the field and for each field setup scenario.