Check all non-dt state machine code

[alexander-beaver]

To Change

Mechanically

• Add bumper mounts to robot

Electronics

• Identify how we can avoid having to recalibrate the Hall Effect sensors

Software

[alexander-beaver]

This is top priority for the immediate future. Non-software changes that need to be made to the robot will be added to this issue.

@NikolaTesla17

[alexander-beaver]

Summary of the Indexer State Machine Competency Check

A recording is available at https://drive.google.com/file/d/1Yhe4fsJdyO68YvkfOUR7LAtj1aD1ZyeN/view?usp=drivesdk

Given the parameters of the indexer, I am sufficiently satisfied that we are controlling it well enough for a competition setting.

• The Hall Effect sensors require frequent calibration, which if this robot performs in a competition setting, should probably happen at the beginning of the day, during lunch, and before elimination matches
• The Pivot Encoder is subject to some severe slip. We should check it before every match at competition, though given what I have seen in the past, before every other match seems more likely but still sufficient for reliable operation
• There are some reliability issues that I have encountered in state management (stopping before updating state), but that seems to be a rather minor problem in terms of state management. Occasionally, it will stop before the second cargo is registered. I am unsure if this is a sensor calibration issue or a logical issue, but I don't think that it is a high priority at the moment. If we end up using Cylone and it doesn't resolve itself after subsequent sensor calibration sessions, I may be concerned about it, but it is not too concerning at the moment.
• I have some concerns about reliability of the mechanism as a whole, especially the use of friction as the primary method of transportation, but we are at a point where I don't think that is feasible to fix. It is a failure of robot concept design, so changing it would require a radical redesign of the indexer subsystem.

Check out #9641ac1 for the very minor changes made to get to this stage of confidence for the indexer state machine process