Set current limits to protect gearboxes

[jtechau]

Versaplanetary gearboxes have torque limits which vary depending on the gear ratios. Some of our motor/gearbox combinations will likely exceed the ratings. (Especially where Falcon or NEO motors are used.) We need to analyze the maximum torque allowable for each motor/gearbox application on the robot, and set a current limit on the motors to limit the torque.

References:

• https://content.vexrobotics.com/vexpro/Falcon/VP-LoadRatings-20191031.pdf

[jtechau]

Initial analysis:

• Falcon 500 with stages 4:1, 4:1 This is within spec.

• NEO with stages: 5:1, 4:1, 4:1 This exceeds the maximum torque specification.