Feature/spin move#94
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Merge DCMP code to main
Replaces fixed-field-pivot orbit approach with pure rotation + calibrated auto-lateral velocity. Documents direction math, termination conditions, and what changes in each file. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Two-task plan: rewrite spinMoveCommand with auto-lateral velocity approach, remove unused constant, verify in simulation. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Replaces the fixed field-coordinate pivot orbit approach (which produced zero net lateral displacement) with pure rotation plus a calibrated auto-lateral velocity derived from pivot distance and angular speed. Removes validity gating on robot speed/direction and center-of-rotation offset logic entirely. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Snapshot DrivePreferences.spinMoveAngularSpeed at command start into state.omega so autoVy and rotationalRate always agree. Fix 2 * Math.PI to 2.0 * Math.PI for type consistency, and add a comment on spinRequest warning against lifting it to a field due to CTRE's mutable fluent API. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Binds left/right triggers to spinMoveCommand with 3s timeout. Adds spinMoveAngularSpeed tunable preference. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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