Lift TrapezoidalProfileFollowers

[amikhalev]

The lift needs two TrapezoidalProfileFollowers: for the lift height, and for the pivot angle

The lift height one probably either needs a subclass or additional functionality to the original class in order to respect the top and bottom limit sensors. When the top/bottom limit switch is tripped, the lift should be prohibited from moving further up/down, respectively. Also, there probably needs to be a way to set a constant power applied to the lift as a hold force. This will probably vary depending on if the picker has a cube or not. It also probably needs a separate min and max power limit (for up and down).

For the pivot, we probably need to manually differentiate the readings from the pivot angle encoder to feed the rate portion of the follower.