TODO: test all opcontrol code

[IonicArgon]

so far we've got driving to work but we need to see if the other subsystems work

we should check:

• [ ] arms
  • [x] lift
  • [ ] holder
• [x] conveyor

arguably the hardest one will be the arms since we're using PID to control the position of it

[IonicArgon]

so the arm code had to be fixed a lot, i think we need to test it again

[IonicArgon]

so the lift works with the pid now but not the holder, will have to try a different solution but for now naive method works