Slots implemented

Merge Request Template

Summary

Testing

• Created tests
• Updated tests
• Tested in simulation (integration tests)
• Tested in real robot (if applicable)
• No tests (reason):

Screenshots/Videos

Related Issue(s)

Changes

Blast Radius

Checklist

• All relevant unit tests are passing
• Documentation updated (if applicable)
• No debug logs or commented-out code

Reviewer Notes

Closes #525 (closed) Closes #527 (closed)