Height Limit Penalty [AARD-1999]

[AlexD717]

Task

Implement a penalty tracker that detects if the robot exceeded the maximum allowed height during match mode, in which case a penalty is applied.

AARD-1999

Symptom

FRC has rules in certain years against extending past a certain height.

Solution

Implement a tracker that checks each robot height and verifies that they are under the height limit. If they are not a penalty is applied.

Verification

To test this I changed on of the match configs to have a value of 1.5. The 2471 robot with elevator fully down is just slightly below that height. Extending the elevator should cause a penalty to be applied (if in match mode).
Also check that

• If ignore rotation is true, rotating the robot doesn't cause any penalties to be triggered
• Penalties still apply with multiple robots
• Penalties are not applied every frame
• Penalty can be configured by uploading a custom match mode config

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Before merging, ensure the following criteria are met:

• All acceptance criteria outlined in the ticket are met.
• Necessary test cases have been added and updated.
• A feature toggle or safe disable path has been added (if applicable).
• User-facing polish:
  • Ask: "Is this ready-looking?"
• Cross-linking between Jira and GitHub:
  • PR links to the relevant Jira issue.
  • Jira ticket has a comment referencing this PR.

[azaleacolburn]

lgtm

[BrandonPacewic]

I'm running out of ways to say looks good. So. This looks good.