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Based off of the WPILib voltage driven DifferentalDrive class. Should be easily compatable with trajectory autos.
had a lot of issues with the afformentioned methods and poor docs, so switched to inbuilt motion profiling. Needs tuning and has warnings still.
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Basic-ish code for the elevator and wrist. Uses the trapezoidProfile subsystem.
CODE HAS NOT BEEN TESTED DUE TO LACK OF A ROBOT.