Fixed the memory leak error when intaking

- The issue traces back to the Controller.Screen.Print statements, we
  don't know what was going on with them but removing them entirely was
  the solution to the memory error
- MobileGoalHeight was changed a little bit, but needs to be adjusted to
  be slightly smaller for consistency
- Removed the hasLiftReachedBottom functions from MOBILE_GOAL and
  MOBILE_GOAL_UP states
- Reverted the limit switch call in hasLiftReachedBottom. Instead of
  creating a new reference to the switch every time hasLiftReachedBottom
  is called, we simply const_cast the limit switch created in main.cpp
  and store its value

Author: RushilGhosh

2024/prototype/intake_mechanisms/src/main.cpp

@@ -153,7 +153,7 @@ PivotRampPrototype makePivotRampPrototype() {
   p.setLiftHeights({
     // These values have been determined experimentally.
     .defaultHeight = 0,
-    .mobileGoalHeight = 0.46,
+    .mobileGoalHeight = 0.31,
     .allianceStakeHeight = rotationsToTop,
     .wallStakeHeight = 1.3
   });

2024/prototype/intake_mechanisms/src/prototypes.cpp

@@ -224,13 +224,10 @@ bool PivotRampPrototype::isLiftAvailable() const {
 }
 
 bool PivotRampPrototype::hasLiftReachedBottom() const {
-    // PivotRampPrototype* that = const_cast<PivotRampPrototype*>(this);
-    // int limitSwitchValue = that->limitSwitch.value();
-    vex::limit input(Seventeen59A.ThreeWirePort.B);
-    Controller.Screen.setCursor(CONTROLLER_LIMIT_SWITCH_ROW, CONTROLLER_LIFT_LIMIT_SWITCH_COLUMN);
-    Controller.Screen.print("%d [%s]", input.value(), (input ? "true" : "false")); // Ternary operator
-    // Controller.Screen.print<int>(limitSwitchValue);
-    return input.value();
+    PivotRampPrototype* that = const_cast<PivotRampPrototype*>(this);
+    int limitSwitchValue = that->limitSwitch.value();
+    //vex::limit input(Seventeen59A.ThreeWirePort.B);
+    return limitSwitchValue;
 }
 
 void PivotRampPrototype::clamp(bool active) {

2024/prototype/intake_mechanisms/src/updateLiftState.cpp

@@ -102,11 +102,9 @@ void updateLiftState(
             } else {
                 robotWithLift.moveLiftDirect(0);
             }
-            robotWithLift.hasLiftReachedBottom();
             break;
 
         case LiftState::MOBILE_GOAL_UP:
-            robotWithLift.hasLiftReachedBottom();
             if (!robotWithLift.isLiftSpinning()) {
                 robotWithLift.moveLiftDirect(0);
                 if (!upButton) {