Summary
If vision fails or something during a match we don't want to get trapped in an overautomated state.

For example, if vision dies we don't want to require the robot to be lined up before scoring. The driver will need to manually score.

I propose we support 3 levels of autonomy:

1. Low - driver does all driving with minimal to no driver assists available (i.e. no auto lineup, but maybe we do heading control to the reef because that's not too hard). The robot subsystems will still work harmoniously together but the driver will be fully in control

2. Mixed - driver is in a command role, and can do manual driving to fill gaps if they want (i.e. on the fly is optional). Every action is heavily automated but the match is directed by the driver's choices

3. Full - fully autonomous. The only input is the button masher choosing where to score. This is MatchStrategy.json basically and would mainly be used in auto and as a cool demo video

Last year we were pretty much always in Low autonomy, but this year I want to push for Mixed for teleop.

Work required

• add a 3 button toggle to send this mode to the robot software