Prevent non logical values from entering commands and subsystems

[pklito]

Create borders which limit the values entering a method.
Specifically, we need to limit negative values entering the conveyor when intaking, and positive values when outtaking. If we fail to prevent these cases, we will reach many infinite commands and illogical methods.

One suggestion is to split the setPowers, so that they will always face the position they are intended to turn to.

[katzuv]

Use the motor controllers' methods (limit ramp rate, set nominal output to 1, soft limits for the turret, etc.). This should be quite easy.

[pklito]

That isn't what we need. we want the intake motor to spin both ways, but only spin inwards in the intake command, so there should be a check about a negative value there, or force it to be positive

[katzuv]

OK, this explanation is more specific…
You could still set temporary nominal output limits, although I don't recommend that.
Anyway, I still recommend using the motor controllers' configs in places they fit, to make sure your subsystems don't break or smoke.

[pklito]

Sure, we could prevent the shooter from turning the other direction

[katzuv]

I also recommend adding soft limits for the turret.