Limits on the Climber

[Nicholas-Stokes]

While we (Robin and I) were testing climber code today, we noticed that there does not seem to be support for encoder limits and we were having problems when the PID would stop working occasionally with the encoders, only to start back up again. To solve this currently, we will have to add more and more case or if statements and just seemingly overcomplicate things.

This doesn't seem like it was actually resolved?

I'll just re-add the comments I put on the pull request

I feel like re-visiting the approach to limiting to the climber mentioned here:

would make it simpler to edit and debug and so we have more flexibility for the Climb Sequence Clint suggested.