Superstructure - Enforce 4 foot maximum height restriction

[dlpond917]

Depending on the final design, it might be possible to rotate the arm and wrist so that the intake is higher than 4 feet off the ground. This is breaking the rules and we must prevent this from happening in the software.

The Superstructure class should have code that governs the angle between the intake and the ground. As the arm rotates higher, the wrist should compensate by maintaining the same angle relative to the ground; and that angle should be pretty small by default.

[dlpond917]

Note: this probably can only be done on the final robot build, not the prototype.