Finally add auto mode.
It is pretty basic now, it just drives forward and puts a ball
in the low goal. This did involve copying over some of the
action stuff, though, and I fixed a couple silly issues in
the frc971 versions while I was at it.
Change-Id: Idc18ea63dd74ba8ba5405264f212ebe993084aa9
diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index af29c46..29722e4 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -193,8 +193,7 @@
left_initial_position +=
distance - theta * constants::GetValues().turn_width / 2.0;
right_initial_position +=
- distance + theta * constants::GetValues().turn_width / 2. -
- theta * constants::GetValues().turn_width / 2.00;
+ distance + theta * constants::GetValues().turn_width / 2.0;
return ::std::move(drivetrain_action);
}