[connor.worley]

We use a gyro, one encoder on our drivetrain, an IR sensor on our roller claw, and a 10 turn potentiometer on our arm. All of them are used in autonomous, but only the IR sensor and the pot are used in teleop.

On the programming side of things, we've got P loops for the encoder and gyro, a PD loop for the arm, and a state machine for the roller. We push all the autonomous commands to a queue with a timeout. If the target positions for the subsystems aren't achieved within the timeout, we skip to the next command. This helps ensure that the robot doesn't get stuck in a control loop and is always doing something.