Offseason Refractoring

[SoZ0]

The problem

The current code base needs major refactoring and there are some major issues holding back the team during development and competition, issue will be updated with links as the supporting issues are made:

Tasks

• FIX REPO STRUCTURE BEFORE COMPLETING ANY TASKS!!!
• Updated SwerveModule and SwerveModuleConfig #2
• Generalized swerve drive train system #3
• Unified vision system #4
• Localization system #6
• Cleaning and fixing commands #7
• Proper timer / delaying system #8
• Fixing subsystems and removing obfuscation #9
• Move away from motor rotation #10
• Proper telemetry and dashboard configuration #11
• Real time event tracer #12
• Removal of unused or old code #13
• Code readability, structure, redundancy, standardize naming scheme #14

Other Comments

With the next few years looking like the amount of programmers may be increasing significantly, requiring a more standardized process that utilizes git features (like branches) can allow more programmers to contribute to the code base at the same time improving development time, ease and distribution of responsibilities

End Goal

The end goal is to allow us to have a smoother transition to using a custom vendor dep to power all future seasons. This will force the codebases of all future robots to be more maintainable and customizable by giving a solid foundation to work off of. This will also let us separate long term code from short term / robot specific code

We will also be making a "robot base" which will be a repository that will contain just the basics to get a robot driving. This robot base will use what we create here and eventually move into the vendordep

[MahditS]

Done

[SoZ0]

Not done, this issue should not be closed until all tasks are completed