Launcher jitters around 0 if never used, wasting energy and stressing the motors

[jamesdooley4]

Looks like if there aren't ever any commands that use the launcher, it has the setpoint at 0 and jitters around that value instead of simply stopping or disabling the motor. This is from a log file during drive practice today where the launcher doesn't appear to be used. The setpoint is 0 but the speed values jump around near 0:

[KangarooKoala]

What topic is being graphed? (Also I assume the magenta line on the bottom is the array of currently scheduled command names?)

[jamesdooley4]

The noisy line is 'Launcher Speed'. The solid line at 0 is the 'Flywheel Setpoint'. The values at the bottom are the robot enable/disable state, and one of the commands running.

[KangarooKoala]

Which branch is this on? (Mostly for the purposes of which branch the PR should target)