Update Code-Dump with the limelight implementation from main.

[vladuzzul]

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[Copilot]

Pull request overview

This PR syncs the codebase with a “Limelight implementation from main” by adding a Limelight subsystem, integrating it into turret auto-aim + driver controls, and aligning supporting utilities/constants (I2C expander packaging/imports, build SDK level).

Changes:

• Added a Limelight subsystem to Robot with polling, pipeline switching, result freshness handling, and telemetry; turret auto-aim can now use Limelight tx correction when available.
• Introduced a new I2cLcd driver built on the PCF8574 I/O expander and cleaned up PCF8574 packaging/import usage.
• Updated constants (Limelight tuning + basket coordinates) and bumped compileSdkVersion in build.common.gradle.

Reviewed changes

Copilot reviewed 7 out of 7 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/devices/PCF8574.java	Fixes package declaration to match directory and support direct imports.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java	Adds Limelight tuning constants and updates basket Y coordinates.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/components/I2cLedBar.java	Updates PCF8574 import to match package fix.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/components/I2cLcd.java	Adds new LCD driver via PCF8574 (currently has correctness issues noted in comments).
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/Robot.java	Adds Limelight subsystem + turret integration; includes minor cleanup opportunities.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/MainDrivingOp.java	Initializes/stops Limelight, adds telemetry, and switches pipeline on target toggle (also exposes a double-toggle bug).
build.common.gradle	Updates compile SDK level to 36 (aligns with FtcRobotController module’s compileSdkVersion).

Suppressed comments (4)

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/components/I2cLcd.java:111

• writeData() doesn't properly strobe the EN line for the high nibble: it raises EN but never drops it with data held stable, and it also doesn't mask the shifted low nibble. This can prevent characters from latching correctly on the LCD.

        byte snd = (byte)((data & 0xF0 | RS_BIT | backlight));
        pcf.writeByte(snd | EN_BIT);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/components/I2cLcd.java:129

• writeCommand() has the same EN-strobe issue as writeData(): it raises EN for the high nibble but never drops it while data is stable, which can corrupt command writes. It should pulse EN high then low for each nibble.

        byte snd = (byte)((cmd & 0xF0) | backlight);
        pcf.writeByte(snd | EN_BIT);

        snd = (byte)((cmd << 4) | backlight);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/components/I2cLcd.java:153

• read() overwrites the first (high) nibble with the second (low) nibble, so the returned byte is incorrect and busy() can behave unpredictably. The second nibble should be OR'ed into the low 4 bits, not replace the whole value.

        pcf.writeByte(snd | EN_BIT);
        readData = (byte)(pcf.readByte() & 0xF0);
        pcf.writeByte(snd);
        pcf.writeByte(snd | EN_BIT);
        readData = (byte)(pcf.readByte() >> 4);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/components/I2cLcd.java:169

• setBacklight() never clears the backlight bit when backlightOn is false, and the immediate write always sends BL_BIT even when turning off. This makes it impossible to reliably turn the backlight off and can desync the cached backlight state from what was sent.

    public void setBacklight(boolean backlightOn, boolean immediate) {
        if(backlightOn)
            backlight = BL_BIT;
        if(immediate)
            pcf.writeByte(BL_BIT);

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