Arm Revamp

[TejaKoripellaUwU]

Quite a few things in this project but the point of it is to gain more familiarity on the physics and motion of a single pivot joint.

1. Ensure our current arm code works as excepted

2. Create Pivot Safety features

• Use trigonometry to identify hazard regions and determine whether the next setpoint will enter one of those regions
• Identify if there an object stopping the path of the arm by determining the distance from the setpoint and current arm position

3. Use System Identification or ReCalc on the pivot of our arm to improve the reliability of our feedforward.

• What is system identification: https://docs.wpilib.org/en/stable/docs/software/pathplanning/system-identification/index.html
• What is feedforward control: https://docs.wpilib.org/en/latest/docs/software/advanced-controls/controllers/feedforward.html#feedforward-control-in-wpilib
• ReCalc feedforward calculator: https://www.reca.lc/arm

[TejaKoripellaUwU]

Point No.1 no longer stands, all the issues with the current arm code have been resolved in the development branch.