Turret can rotate past soft limits

[mlists]

This behaviour has been observed when the turret starts anti-clockwise of the left index. This position violates the rules around starting configuration and is extremely unlikely to occur during games (We are 180 degrees from our intended start). The same situation could conceivably happen if scan direction is reversed from a more conventional starting position.

Because this is unlikely to occur, a fix to this bug should be considered low priority, as long as scans start anti-clockwise first

[raulvera59]

Hypothesis: this happens when the turret's first scan move takes it beyond what would have been it's end point in the correct space. Then the correction puts the encoder behind where the turret is now, so it keeps on going.

[raulvera59]

Note: scans do start anti-clockwise first

[auscompgeek]

We should set the soft limits on the Talon to avoid this ever actually becoming a problem. Then it becomes a matter of making scans behave appropriately before hitting an index.

[mlists]

Reviving this issue since certain starting configurations can cause the turret to seemingly zero incorrectly