Worlds Branch (slip fliter disabled)

[RobototesProgrammers]

No description provided.

[gemini-code-assist]

Code Review

This pull request replaces the pose-velocity blending mechanism with a dual-mode slip filter to better compensate for robot defense and wheel slip. It introduces hysteresis for the robot movement gate and the slip tracking mode to prevent rapid toggling. A logic error was identified in the slipFastMode hysteresis implementation, where the state would incorrectly reset when the slip magnitude was between the entry and exit thresholds.

[jamesdooley4]

Comments mostly about things to think more about / test before merging to main.

[RobototesProgrammers]

/gemini review

[gemini-code-assist]

Code Review

This pull request introduces a wheel slip detection algorithm and a hysteresis gate for robot movement in LaunchCalculator.java, updates launcher distance constants, adds a turretSkipped toggle in Controls.java, and updates vendor dependencies. Feedback on these changes includes removing a redundant dependency in build.gradle, refreshing Phoenix 6 status signals before reading them, initializing lastModuleVelocity with current velocities to prevent false slip detection on startup, correcting the SLIP_CURRENT_THRESHOLD constant, and ensuring turret subsystem commands are disabled when turretSkipped is active.

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