Prepare for Practice Field

[JohnGilb]

Why are we doing this?

I did a pass on a number of missing things we needed before hitting the practice field, while also making miscellaneous updates as I went along.
Asana task URL:

What's changing?

• Misc changes:
  • Temporarily stopped vision from directly updating odometry, though we will keep and log a copy of all vision and vision-fused odometry to help us debug things and understand when its time to re-enable.
  • Rename several scoring locations to include "Blue", such as BlueSubwooferCentralScoringLocation, for clarity on when they need to be flipped for red alliance
  • Added some "teleport" buttons to the driver gamepad for the three simplest starting conditions (top/middle/bottom subwooer)
  • Fixed a long-standing bug where the robot would ignore small rotation commands from the driver due to two layers of deadbands
  • Fixed a bug where the robot would drive backwards if you were on the red alliance
• Oracle changes
  • Added a button to "update" the NoteMap and ScoringPositionMap based on what alliance you're on. (for example, invalidating the blue scoring positions when you are on red alliance
  • Set up some unused functions to mark some scoring positions as reserved by others in autonomous
  • Added a way to "link" reserved notes together so the robot won't try to "slip" between them, since if they are reserved we shouldn't be driving in that general area anyway.
  • Prevented the robot from firing a note if arm is at height, and wheel is at speed, BUT the robot isn't done rotating to face the speaker. Can be consumed by any command via PoseSubsystem.getAngularErrorToSpeakerInDegrees()

Questions/notes for reviewers

How this was tested

• unit tests added
• tested on robot
• tested in simulator