various bugs / features

[RCMast3r]

@RCMast3r "[Yesterday 2:02 PM] Hall, Benajmin what are the gaps between new code and old MCU code? [Yesterday 2:02 PM] Hall, Benajmin feature wise [Yesterday 2:03 PM] Hall, Benajmin highest priority to least "

@shaynoorani "There should also be no physical way you can have the wheels spin backwards in any of the torque modes due to a pedal not being calibrated correctly MCU error reset button shouldn’t delatch car. fixing definitions of implausibly -We should do the test that they do at comp to make sure the wheels don’t spin when you take out one of the jumpers for acel pedal or take out three brake pedal -Ease of calibrating pedals -power limiting"

• [ ] at the drivetrain level add check for negative RPM (reverse) request
• [ ] add power limiting to base torque controllers - [ ] add MCU error resetting to drivetrain and ensure it behaves properly with the state machine

[walkermburns]

I am making an issue for the negative RPM request that I can put on my plate for now since I am working on torque and power limiting already. @RCMast3r if the MCU error has already been resolved/split into another ticket, we should close this issue since everything here is pretty high-priority.