Change setting the ArmState to prioritize rotation when there is a lower moment of inertia

[srimanachanta]

The way the current system works, the setting of rotation and extension are independent of each other, this makes a fast system but also a potentially unstable one when done in real life, this is because the arm assumes the same high velocities when the arm is extended as when it is retracted. This is a bad idea as moving the arm efficiently at lower MoI at the same rate as higher MoIs may cause damage to the arm. The simple solution is to limit velocity and acceleration to the safest for extended. This will leave major efficiency on the table for when the arm is retracted.

[srimanachanta]

Also, when retracting from nodes, it retracts very quickly, making me worry it will get caught on something, maybe add an option to change rotation then angle, then again, this can be solved in implements