Superstructure - Limit range of motion for safety

[dlpond917]

There should be a filter on range of motion that prevents any arm or wrist rotation that would cause the intake or shooter to attempt to move into the robot.

Any attempt to move the arm past its fixed range of motion should be forbidden

Any attempt to move the wrist to a dangerous location when the arm is at a low angle should be forbidden.

[dlpond917]

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

[amb2127]

This is hard as heck