[AustinSchuh]

We typically start writing control loops and state machines before the hardware is done. We do this by doing test driven development. Since all our state feedback loops require a model, we hook up the code that will actually run on the robot (no modifications required) to the model, and add in a bunch of verification to check for collisions. We then run a bunch of tests to verify that, for example, our shooter will shoot and reload correctly, our claws will zero without intersecting from a bunch of different positions, etc. Only once our code passes a bunch of tests do we put it on the real hardware and let it rip. This means that we don't break our nice new hardware during robot bring up, and we have a lot more confidence in the code that we write. It also means that we can write more complicated code and quickly get it to work.