Updates Dribber Command Interface

[guyfleeman]

• adds new dynamic states for hard catch, soft catch, and dribbling (these would allow firmware to implement dynamic dribbling strength based on velocity vector, and ball capture status). Software can tune strength on a scale of 0.0-1.0
• adds new direct controls mode for current and velocity. Vel PID is weakly tuned. Slew rate protection goes from 0-MAX in ~50ms in an attempt to help protect the gear box against high jerk. Both of these modes off lock-up, stall, and current protection
• direct voltage mode is removed since it cannot offer stall protection. Current software commands using direction control should switch to current mode, commanded in mA. rated range 0-1530mA, max sustained range 0-2646mA. The former ranges represents the enforced current limit at 0 vel, the latter represents the enforced current limit at > ~0 vel.

DISABLE mode allows the motor to coast, if actual braking is desired, use VELOCITY mode with setpoint==0.0