Safety issue: Turret moves 180 degrees on robot start without any operator input

[jamesdooley4]

I've noticed this for a while, and finally filing an issue for it.

Repro:
Zero physical mechanisms
Turn on robot
Wait for code to start
Enable robot

Result:
Turret zooms around 180 degrees, likely because it's going from its initial position (pointing backwards) to pointing towards where it thinks the hub is based on the robot's default position (parked right in front of the hub with the intake pointing away from the hub).

Expected result:
Nothing on the robot moves when the robot is enabled, until some operator input happens. Or at least is moves a bit less on startup so there's less of a risk of breaking the cable chain or hitting a human that's nearby and not expecting the turret to whip around.

This may become less of an issue when the 'zero' position is at the new hard stop. Unless the zero position is chosen to be 320 degrees away from the current "aim at hub" default, so it actually gets worse than before.

[Jetblackdragon]

I'm not worried about this post zero checks and hard stops.

-Side note my understanding from Tristan was that the "0" after adding a hard stop would be 255 degrees clockwise from the current 0 (75 degrees from the front rotating towards the climb) and we would have a total rotation for 320 not 360 anymore due to hitting a motor

[Fatblabs]

goodbye 40 degrees