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This commit involves development work on top of the v26.2 done in support of FRC2486, but directly applicable here.
Also remove duplication of efforts in SIM.
Deep dive through these subsystems to ensure compatability with APIs and that there aren't any silly mistakes left over.
Make sure commands do what they say they are doing. Also, make sure the imu -> drive -> accelerometer pathway is clean. Any remaining tunable constants hardwired in code have been moved to `Constants.java`. More tests have been added.
This will maintain unformity in PIDF gains between the LICENSED and UNLICENSED CTRE states. There should be little difference between the performance of the robot for normal operation -- only under extreme performace conditions might there be a difference.
Make the `RobotContainer` controller-agnostic, relying on detecting the controller at robot startup and routing through a translation layer from symantic names to controller-specific button names.
Teams now use button ACTION names instead of `.x()` or whatever, and the mapping of ACTION names to geographic button location is all in `Constants.java`.
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This is an AI-assisted pass through the RBSI code to bring all components up to 2026 standards and find all of the little annoyances that have plagued teams over the past couple of years.
This move to
v26.3is designed to be a fully clean stepping stone ahead of the migration to SystemCore in 2027. The goal here is to have a clean and functional RBSI that runs on the RIO before starting the migration process ahead of January 2027.