Finish Gatorade shoulder

[rcahoon]

Description

Finish the code to get the shoulder working.

How Has This Been Tested?

• Unit tests: [Add your description here]
• Simulator testing: [Add your description here]
• On-robot bench testing: https://photos.app.goo.gl/1R7KkUyDtfT8Timg9
• On-robot field testing: [Add your description here]

[dejabot]

looks great, thank you for adding in the controls and tuning!

question and suggestion (for follow-up PR):

[Q] why is the shoulder idle mode different for left and right? (might be worth some comments)
[S] do we want to have any PIDless nudging support specifically for the shoulder for tuning? this could be easier if/when we switch to using a macropad for tuning vs in-game boxop, as the bringup/debugging controls on the boxop gamepad will otherwise be pretty complicated.

thanks!

[rcahoon]

do we want to have any PIDless nudging support specifically for the shoulder for tuning? this could be easier if/when we switch to using a macropad for tuning vs in-game boxop, as the bringup/debugging controls on the boxop gamepad will otherwise be pretty complicated.

Ideally, yes, but for now we're out of joysticks on the gamepad :)

[dejabot]

LGTM.

Yeah, I would like to switch to the macropad for bringup/debugging for this reason. If we're good for now/don't need it before Friday, I'll take a pass at this post the upcoming outreach event.

[dejabot]

looks like the lint checks are failing. you can address those by running:

./gradlew spotlessApply

[rcahoon]

I'm just going to merge this as-is, since most of the lint failures are from code already in main. Can do a linting pass in a separate PR.