Semiauto cube pickup

[jwalthour]

A replacement for the present collector control scheme.

Wrist wants to default to the "Mid -up" position.

Workflow when the weapons operator hits a button:

• Wrist drops to floor and maw opens
• If the operator releases the button, or the photoelectric sensors detect a cube:
  • The maw closes
  • The chains run in for a moment
  • The wrist goes back up to the "mid up " position

Workflow when the operator hits a different button:

• Wrist drops to floor and maw opens
• If the operator releases the button (this is the backup mode for when the photosensors are suspect):
  • The maw closes
  • The chains run in for a moment
  • The wrist goes back up to the "mid up " position

[jwalthour]

Whoops, this is a duplicate of #54