Safety

Kinda important I guess

Pre-Enable Safety Checklist

Before enabling the robot:

• Check that no one is near the robot

• If someone is nearby, yell: "Enabling!"

• Wait until someone replies: "Clear!"

Never enable unless someone confirms the area is safe.

Servo Mechanism Safety

• Always set soft limits on motors controlling arms, elevators, turrets, or anything that can move aggressively.

• Never run servo mechanisms with soft limits disabled unless you're actively debugging and fully in control.

• These limits should live in your ServoMotorConstants

• Set current limits!

Sensor Fault Checks

Before moving anything that could damage itself or the robot, check that your sensors are reporting sane values:

• Is the reading NaN?

• Is it stuck at zero when it shouldn’t be?

• Is it jumping around or clearly wrong?

It would be nice to not twist any more steel shafts or make more gears circular