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TEST AT NEPF 10/21
…/Reefscape2025 into pre-WASS-fixes/changes
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/gemini review |
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Code Review
This pull request introduces a wide range of fixes and changes, primarily focused on refactoring the auto-alignment logic, updating control schemes, and reorganizing the Shuffleboard layout. The refactoring efforts, such as consolidating alignment commands and centralizing alliance logic, are commendable and improve code maintainability. However, there are several areas that could be improved. I've identified significant code duplication in the SuperStructure subsystem that should be addressed. There are also opportunities to enhance type safety in Controls.java by using enums instead of strings. The Shuffleboard layout has some inconsistencies, including a duplicated tab name that could cause confusion. Additionally, some logic in BargeAlign.java has been commented out, and a haptic feedback feature for the driver appears to have been removed, both of which might be unintentional. Finally, there are minor performance and style improvements that can be made in AutoAlign.java and the new AllianceUtils.java.
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running off of drivebt2 which is running off of girls gen changes FYI
fixes #184