Write code for Ready command

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The Ready command will ensure that the leg is in the back position, and some 
amount of tension is currently applied.

Thus, the Ready command will control the Leg subsystem, and the Tensioner 
subsystem.

In order to support the ability to display the ready command to the 
driver/shooter, the "ready" dashboard status value should be conditioned 
appropriately.

Original issue reported on code.google.com by [email protected] on 31 Jan 2014 at 8:27

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Original comment by [email protected] on 31 Jan 2014 at 8:51

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Original comment by [email protected] on 31 Jan 2014 at 8:56

• Added labels: Type-Enhancement
• Removed labels: Type-Defect

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Tensioner has 4 States:  HighTension (Short Distance), LowTension (Long 
Distance), MediumTension (Very Short Distance), and Moving

Leg has 3 States:  Unlatched, Moving, Latched

NOTE 1:  The Tensioner Motor and the Leg should never be Moving at the same 
time, as they will "fight" against each other.  

NOTE 2:  The Tensioner cannot "hold" tension unless the Leg is latched.

Therefore, to prepare to fire, the Leg should be placed into the Latched state. 
 Then, and only then, the Tensioner should be moved to the HighTension state.

Slack (after firing):  Leg Unlatched, Tensioner MediumTension
LegMoving:             Leg Moving, Tensioner MediumTension
TensionerToHigh:       Leg Latched, TensionerMoving
Ready:                 Leg Latched, Tensioner HighTension (or Tensioner 
LowTension)

Original comment by [email protected] on 2 Feb 2014 at 2:34