Arm Improvements

[danielbrownmsm]

Summary It's that time of year again, and the arm needs to be improved for worlds.

Work Required

• make the arm commands blocking (only return true in isFinished() if the arm is at the setpoint)
• add acceleration limits to the extend
• add acceleration limits to the raise/lower
• add the manual control back in, just in case
• add a button on shuffleboard to activate/deactivate manual control

Verification

• CI passes
• code is not bad

[AbbeySieg]

This was done on feat/GKC

[danielbrownmsm]

everything except acceleration limits, but those can be deferred to another issue