Spindexer Aware Auto

[MGross21]

If we perform GOTO_COLLECT -> COLLECT and Spindexer.isEmpty, we need to skip SHOOT and go to next GOTO_COLLECT.

MissionDecodeTheFinalCodePartOne2025-2026/TeamCode/src/main/kotlin/pioneer/opmodes/auto/RedGoalSideAuto.kt

Lines 28 to 43 in d4b5c6d

	// Main state for auto
	enum class State {
	GOTO_SHOOT,
	SHOOT,
	GOTO_COLLECT,
	COLLECT,
	STOP
	}
	// State for which line of artifacts to collect
	enum class CollectState {
	GOAL,
	MID,
	AUDIENCE,
	DONE
	}

MissionDecodeTheFinalCodePartOne2025-2026/TeamCode/src/main/kotlin/pioneer/decode/Points.kt

Lines 38 to 53 in d4b5c6d

	val START_GOAL = Pose(130.0, 137.0, 0.0).T(color)
	val SHOOT_GOAL_CLOSE = Pose(60.0, 60.0, 0.0).T(color)
	private fun collectY(i: Int) = 30 - (i * 60.0) // 30, -30, -90
	private val prepCollectX = 70.0
	private val collectTheta = -PI / 2 // Point to right
	val PREP_COLLECT_GOAL = Pose(prepCollectX, collectY(0), collectTheta).T(color)
	val PREP_COLLECT_MID = Pose(prepCollectX, collectY(1), collectTheta).T(color)
	val PREP_COLLECT_AUDIENCE = Pose(prepCollectX, collectY(2), collectTheta).T(color)
	private val collectX = 130.0
	val COLLECT_GOAL = Pose(collectX, collectY(0), collectTheta).T(color)
	val COLLECT_MID = Pose(collectX, collectY(1), collectTheta).T(color)
	val COLLECT_AUDIENCE = Pose(collectX, collectY(2), collectTheta).T(color)