[FEATURE] Jam Detection

[skrunked]

Description:

Currently, we have a manual 'spit' command that runs the uptake/intake/hopper backwards to clear jams. Keep this manual command, but also consider automating each subsystem's unjamming by running backwards when current draw exceeds a tuned maximum. Potentially combine the current with the mechanism velocity to distinguish jamming from other unusually high draw.

Type:

• New Feature
• Improvement to Existing Feature

Category:

• Software
• Controls/Mechanism
• Controllers/Buttons/Human Interface
• UI/Dashboard
• Logging

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Urgency

• Nice to Have
• Important
• Critical

Impacted Modes:

• Disabled
• Teleop
• Auto
• Simulation

Impacted Systems:

• Drive
• Vision
• Autonomous
• Logging
• Mechanism(s): Intake, Uptake, Hopper

When?

• Instantiation
• Initialization
• Periodic
• Command

File(s) of Focus:

Intake.java
Hopper.java
Uptake.java

Resources:

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Screenshots/GIFs/Videos: