motor failure Ident

[roterrex]

Add code to identify a motor which should turn but is not.
This should intitially be applied and tested on swerve drive and steering motors, but may also be tested on falcon motors.

(Important) there is to be no action taken if failure is detected at this stage. The risk of this safety system triggering and ending a match when not needed, concerns me more than damage from a failed motor. If triggered it should print and log only.

Suggestions,

1. these motors have encoders, can a condition be designed to detect a motor with power applied but no rotation.
2. note: a motor that has had power applied 0.01s before will not be spinning yet, this must be accounted for.
3. is it possible to distinguish a failed encoder from a failed motor.
4. is a motor underperforming, to be treated the same as a dead motor, as a motor phisically jammed.
5. some motors will have stopping conditions such as limit switches, this must be accounted for.