Dcmp (#151)

* AprilTags to field layout, config "default" to "dcmp"

* Added alternate 3piece

* Clean up alternate 3piece

* Move elevator to coiral intake height after scoring

* Fix mis-spelling

* Practice field adjustments.

* Day one changes.

- Change climber deploy position from 7.0 to 7.5 inches.

- Explicitly set the odometry start pose to be the same as the autonomous init pose.

- Prioritize LED display for coral over algae.

- Stop coral intake when operator right trigger button is releasead.

- L1 coral outtake voltage was changed from -1.0 to -1.5.

- A lot of improvements with the autos.

* Refactor some multi-piece autos

* two-piece tweaks

* Changes to robot

* Increase wait until elevator raise from source to reef

* Increase Algae L3 height

* small adjustment to choreo

* choreo adjustments

* choreo adjustments

* Revert algae L3 height

* choreo adjustment

* choreo changes

* chorero changes

* Add nt entry for algae follower motor

* Red 3 piece auto changes

* chorero changes

* Final changes for districts

---------

Co-authored-by: Christopher Larrieu <christopher@larrieu.org>
Co-authored-by: Pez357 <xavierhern2007@hotmail.com>

Author: 3 people

src/main/deploy/choreo/Pi.chor

@@ -505,8 +505,8 @@
    }
   },
   "mass":{
-   "exp":"100 lbs",
-   "val":45.359237
+   "exp":"141 lbs",
+   "val":63.95652417
   },
   "inertia":{
    "exp":"6 kg m ^ 2",

src/main/deploy/choreo/blueAlgaeToProcess.traj

@@ -26,14 +26,14 @@
  },
  "trajectory":{
   "sampleType":"Swerve",
-  "waypoints":[0.0,0.21099],
+  "waypoints":[0.0,0.25051],
   "samples":[
-    {"t":0.0, "x":5.85, "y":4.15, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00009, "ay":-14.04502, "alpha":0.0, "fx":[0.00097,0.00097,0.00097,0.00097], "fy":[-159.2678,-159.2678,-159.2678,-159.2678]},
-    {"t":0.0422, "x":5.85, "y":4.1375, "heading":3.14159, "vx":0.0, "vy":-0.59267, "omega":0.0, "ax":0.00004, "ay":-14.02907, "alpha":0.0, "fx":[0.00048,0.00048,0.00048,0.00048], "fy":[-159.08694,-159.08694,-159.08694,-159.08694]},
-    {"t":0.0844, "x":5.85, "y":4.1, "heading":3.14159, "vx":0.00001, "vy":-1.18467, "omega":0.0, "ax":-0.00026, "ay":0.0, "alpha":0.0, "fx":[-0.00289,-0.00289,-0.00289,-0.00289], "fy":[0.0,0.0,0.0,0.0]},
-    {"t":0.12659, "x":5.85, "y":4.05, "heading":3.14159, "vx":-0.00001, "vy":-1.18467, "omega":0.0, "ax":0.00004, "ay":14.02907, "alpha":0.0, "fx":[0.00048,0.00048,0.00048,0.00048], "fy":[159.08694,159.08694,159.08694,159.08694]},
-    {"t":0.16879, "x":5.85, "y":4.0125, "heading":3.14159, "vx":0.0, "vy":-0.59267, "omega":0.0, "ax":0.00009, "ay":14.04502, "alpha":0.0, "fx":[0.00097,0.00097,0.00097,0.00097], "fy":[159.2678,159.2678,159.2678,159.2678]},
-    {"t":0.21099, "x":5.85, "y":4.0, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+    {"t":0.0, "x":5.85, "y":4.15, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.00005, "ay":-9.96279, "alpha":0.0, "fx":[0.00082,0.00082,0.00082,0.00082], "fy":[-159.29631,-159.29631,-159.29631,-159.29631]},
+    {"t":0.0501, "x":5.85, "y":4.1375, "heading":3.14159, "vx":0.0, "vy":-0.49915, "omega":0.0, "ax":0.00003, "ay":-9.95326, "alpha":0.0, "fx":[0.0004,0.0004,0.0004,0.0004], "fy":[-159.14393,-159.14393,-159.14393,-159.14393]},
+    {"t":0.1002, "x":5.85, "y":4.1, "heading":3.14159, "vx":0.0, "vy":-0.99782, "omega":0.0, "ax":-0.00015, "ay":0.0, "alpha":0.0, "fx":[-0.00244,-0.00244,-0.00244,-0.00244], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.1503, "x":5.85, "y":4.05, "heading":3.14159, "vx":0.0, "vy":-0.99782, "omega":0.0, "ax":0.00003, "ay":9.95326, "alpha":0.0, "fx":[0.0004,0.0004,0.0004,0.0004], "fy":[159.14393,159.14393,159.14393,159.14393]},
+    {"t":0.20041, "x":5.85, "y":4.0125, "heading":3.14159, "vx":0.0, "vy":-0.49915, "omega":0.0, "ax":0.00005, "ay":9.96279, "alpha":0.0, "fx":[0.00082,0.00082,0.00082,0.00082], "fy":[159.29631,159.29631,159.29631,159.29631]},
+    {"t":0.25051, "x":5.85, "y":4.0, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
   "splits":[0]
  },
  "events":[]