Added per-motor control to thunderscope diagnostics. (new)

[Muxite]

Description

Added per motor control as a set of radio buttons in thunderscope diagnostic. Direct velocity and per motor control will switch depending on which radio button is pressed. The two control widgets will not appear at the same time, since both inputs are not allowed at the same time. Pressing the button for per-motor control will shut off direct-velocity control and reset those sliders, then switch the widget for per-motor control. Vice versa also applies.

Testing Done

It was tested on a robot in the mezz on Jan 25th. Test was made on all sliders of direct-velocity, switching to per-motor without using reset, changing sliders on per-motor, and switching back to direct-velocity. Back-and-forth was done twice. The robot did all the commands it was told to on all motors. It was also tested using print() on the terminal.

Resolved Issues

resolves #3320

Length Justification and Key Files to Review

drive_and_dribbler_widget.py Added functions similar to existing ones, but that apply to per-motor controls as opposed to direct-velocity controls. Also added an enum for the control mode.

Review Checklist

This PR was reviewed before, but since it was a long time ago, I decided to make a new branch instead of resolving all the merge conflicts on the old one.

• [x] Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• [x] Remove all commented out code
• [x] Remove extra print statements: for example, those just used for testing
• [x] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[github-actions[bot]]

This PR is stale because it has been open for 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.

[Mr-Anyone]

Looks good.

[github-actions[bot]]

This PR is stale because it has been open for 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.

[github-actions[bot]]

This PR is stale because it has been open for 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.