Pick an algae off the reef in auto

[jkleiber]

Summary

If we end up in a situation where we are on a goated allliance and are doing 1 piece barge, we should score the coral and then pick the algae off the reef and score it in our net

Doing this will accomplish a couple things:

• Net OTF (alliance dependent)
• Making it so the reef positions in auto actually do something

I think we'll need to upgrade our strategy manager schema to support this. Here's an idea:

"actions": [
    {
        "type": "AutoScore",
        "location": "Reef0",
        "level": "L4"
    },
    {
        "type": "AlgaeIntake",
        "location": "Algae0",
        "level": "AlgaeL2"
    },
    {
        "type": "AutoScore",
        "location": "Net",
        "level": "L4"
    }
]

This would allow us to be explicit about what the order of actions is and where they happen in a more general way than what we currently have. However it's probbaly a big refactor so we will need to test it extensively

@linglejack06 and @minhnguyenbhs assigning to y'all for now - feel free to split the work if it makes sense. I don't anticipate that we'll have this for DCMP, but I wouldn't be upset if we did lol

[jkleiber]

@aidnem Preston wants this as an option at DCMP, which is a valid request. Maybe something you and @avidraccoon can work on on the bus ride?

[aidnem]

@jkleiber Sure. I've already planned how to do it, I think to avoid major logic changes I'm going to add a flag that just replaces the auto with a preprogrammed sequence to do this. I don't trust rewriting all of our auto sequencing code on the day of load in.

[jkleiber]

@aidnem fair, and sounds good

[aidnem]

@linglejack06 any idea why drive desired location is getting set to reef 0 constantly? I added a new desired location for the auto line and I can see I'm setting it correctly but it gets immediately changed to reef0

[linglejack06]

Probably snakecmscreen override check the set location thing in drive

[aidnem]

It was, I fixed it