merge Code dump into main

[ImMihai689]

Summary by CodeRabbit

• New Features
  • Robot heading can now be initialized with a specified starting orientation.
  • Final robot poses are saved when autonomous replay or manual driving ends.
  • Manual controls now support differential trigger-based loader and intake operation.
• Improvements
  • Auto-aim and shooting range selection now work together more predictably.
  • Limelight turret corrections adapt based on targeting error, improving aiming responsiveness.

[coderabbitai]

Caution

Review failed

The pull request is closed.

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: defaults

Review profile: CHILL

Plan: Pro Plus

Run ID: c14f5a53-065d-4174-85d5-97079b17edce

📥 Commits

Reviewing files that changed from the base of the PR and between ac8df77 and 6d22e62.

📒 Files selected for processing (5)

• TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java
• TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/autonomous/FinalReplayOp.java
• TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/FinalRecorderOp.java
• TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java
• TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java

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📝 Walkthrough

Walkthrough

The changes update robot heading initialization, Limelight turret correction behavior, manual intake and shooting controls, and final follower-pose persistence in manual and replay op modes.

Changes

Robot operation updates

Layer / File(s)	Summary
Heading initialization and Limelight aiming TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java, TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java	Heading initializes from an optional heading. Limelight orientation and odometry aiming use the follower pose heading. Turret corrections use separate limits for errors above and below 10 degrees.
Manual intake and shooting controls TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/FinalRecorderOp.java	Loader control uses the difference between the triggers. Discrete shooting ranges run only when auto-aim is disabled.
Final pose persistence TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java, TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/autonomous/FinalReplayOp.java	Both op modes save the follower’s final pose during shutdown.

Estimated code review effort: 3 (Moderate) | ~20 minutes

Possibly related PRs

• kronbot/decode#2: Related heading and follower initialization changes in Robot.java.
• kronbot/decode#3: Related Robot.java, op mode, constants, pose persistence, and auto-aim changes.
• kronbot/decode#9: Related Limelight turret aiming and correction-limit changes.

Suggested reviewers: robi2903, chiriacioana

✨ Finishing Touches

📝 Generate docstrings

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch Code-Dump

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