Add soft stops to the arm

[n-arms]

We need soft stops on the arm so that we don't accidentally command it to try and push past the hard stop in the stowed position, or flip the robot over by going in the other direction. Since ArmIOSim has built-in soft stops, it makes sense to add the soft stops to ArmIOSparkMax. Luckily, SparkMaxs have a built in tool to do this with the SparkMax onboard processor. Check out this method.

[Rubinious]

I think soft stops have been added but someone should double check