ERROR: Cannot install -r requirements.txt (line 2), -r requirements.txt (line 3), -r requirements.txt (line 4), -r requirements.txt (line 5) and wpilib~=2022.2.1 because these package versions have conflicting dependencies.

The conflict is caused by:
The user requested wpilib~=2022.2.1
robotpy-ctre 2022.0.2 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-navx 2022.0.0 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-rev 2022.0.0 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-wpilib-utilities 2020.0.3 depends on wpilib<2021.0.0 and >=2020.1.2.1
The user requested wpilib~=2022.2.1
robotpy-ctre 2022.0.2 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-navx 2022.0.0 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-rev 2022.0.0 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-wpilib-utilities 2020.0.2 depends on wpilib<2021.0.0 and >=2020.1.2.1
The user requested wpilib~=2022.2.1
robotpy-ctre 2022.0.2 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-navx 2022.0.0 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-rev 2022.0.0 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-wpilib-utilities 2020.0.1 depends on wpilib<2021.0.0 and >=2020.1.2.1
The user requested wpilib~=2022.2.1
robotpy-ctre 2022.0.2 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-navx 2022.0.0 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-rev 2022.0.0 depends on wpilib<2023.0.0 and >=2022.2.1.0
robotpy-wpilib-utilities 2020.0.0 depends on wpilib<2021.0.0 and >=2020.1.2.1

• Driver input deploys intake and starts it running
  • Driver input should be toggle so that the intake can be retracted if driver changes mind
• Indexer runs while intaking until ball is detected in indexer
  • Stop indexer when ball detected
  • Briefly reverse intake when ball detected
  • Retract intake when ball detected
• Check ball colour in indexer
  • If incorrect colour -> reverse indexer and reject ball
• Driver input triggers indexer to run and inject ball into shooter

Add addressable LEDs that let the drive team know what state the robot is in.

All LEDs should be the same colour so that their placement on the robot is not constrained in any way.

Suggested patterns:

• Too close to goal -> red
• Too far away -> blue
• Ready to fire -> green
• No cargo -> flashing
• Auto-fire mode -> slow pulse

In order to write this software:

1. Create a new component. Create methods to make it do various things, e.g. pulse(colour) etc. Do the pulsing in the execute() method.
2. Create a new controller. This should have the LED component from above as a member, along with whatever else it needs to know the status of. In its execute() method it will check on the various systems and update the lighting code according to the robot status.

At the moment we know that we will be using:

• two Falcons for each module - one for drive and one for steer
• a CANcoder for initialising the absolute position of the module

Drift over time will affect the field oriented driving. Driver needs a way to force a reset of heading.

In Hawaii Qualifier 38 (https://github.com/thedropbears/pyrapidreact/releases/tag/hawaii-q38) we changed the shooter speed from being a will_reset_to to just a regular float. This made the shooter flywheels go completely haywire. This was reverted in the next match (https://github.com/thedropbears/pyrapidreact/releases/tag/hawaii-q43) and everything worked again.

There is some sort of bug here, and we have been relying on this behaviour all season. Suggest we work out what it is, and retune the shooter so that it is working properly.