Add scoring autos

[aidnem]

Summary

Add an auto that makes the robot move from the center and score its preload in the reef.

Work

• Add an auto to RobotContainer.java (search for the auto chooser to see where to add a new auto) that will move the robot and score
• Verify this by running it in real life!

Resources:

Read some documentation to get your bearings:

• Read the Command docs. While we generally stay away from fully command-based programming, learning how to sequence actions is important for autonomous design.
• Read the Command Composition Docs.
• The CommandScheduler docs will also be helpful

[godmar]

I think that you should close #1 by committing and merging the branch you have there, then continue to work on getting the auto to run first in simulator.

@thetaback @MalekS-394 @kylesequeiras
The problem you currently have is likely related to the missing gyro code. The KitKat codebase likely came from the Kitbot 2025 template. This template (documented here) relies on the robot having a Gyro that tells it its orientation, as described here in the documentation for the Differential Drive template upon with the Kitbot 2025 template is based.

Specifically, this code was removed, see our code base here.

You will need to add it back in. Otherwise, when the robot is turning, the simulation will compute the "twist" (the angle resulting from the different speed of the left and right wheels), but it will not be reflected since the rotation of the gyro is not simulated.

It appears that the code works with an actual gyro, but if none is connected, it'll try to compute the raw gyro angle from the values reported by the encoders. Please try this out.