My plan to make bot less cooked in order that that they should be completed~~

• Generate swerve constants ~1h at most
• Make sure swerve works
• Tune all other motors in Tuner X including MM for pivot shooter and ampevator ~3h at the very worst
• Shoot sub ~1h maybe worse
  • get bot to intake note
  • get bot to transfer note from spindex to shooter
  • shoot note at sub
• Get turret to work part 1 ~2-3h maybe more
  • make sure the encoders on the turret at least help the turret zero properly
  • make sure the turret can always go back to a 0 angle (so facing straight) no matter how it starts
  • add forward and backward limit
• Ampevator ~ 1-2h worst
  • get bot to pass note from spin dex to the ampevator roller with the redirect roller by moving intake in opposite direction
  • find amp preset
  • score
• Climb ~30 min worst
  • make sure the climb moves up and down and we should be good
• Turret part 2 ~3h worst
  • get turret LL to work
  • make turret follow speaker tag #28
  • see if just keeping it center to speaker tag is good enough
  • make turret go to angles field relative
• Pivot Shooter - 1.5h
  • find interpolation points maybe interpolate shooter as well just using speaker tag tY
  • test and see if it works
• Autos part 1 ~infinite
  • tune choreo path follower
  • get preload to work
  • get clean up wing notes to work
  • get amp side or source side 2 note + preload to work
• Turret part 3 + Pivot shooter part 2 ~1h
  • test how bad the odometry drifts in a two minute match and decide if its decent enough
  • make the turret and pivot shooter go the the general direction of the tag so the LL sees it
• Autos part 2 ~infinite
  • shoot non sub (ideally halfway between wingline and podium)
• Vision
  • note detection with PID
  • calculate pose of note
  • add DA to go to note
  • get photon to work
• Do more autos
• [ ] Sleep
  Ok so none of this is actually happening so new plan:
  make swerve work
  try and intake note
  try shooting sub
  make bot move during auto