Added indexer support, with stall detection.

Re-tuned some other loops while I was learning more about the indexer.

Change-Id: I893f1f273b31357ae9137601ca27322fc3b09d98
diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index 99de502..3cad298 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -27,6 +27,7 @@
     turret_.Reset();
     intake_.Reset();
     shooter_.Reset();
+    indexer_.Reset();
   }
 
   hood_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->hood) : nullptr,
@@ -46,6 +47,10 @@
                 &(position->theta_shooter),
                 output != nullptr ? &(output->voltage_shooter) : nullptr,
                 &(status->shooter));
+  indexer_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->indexer) : nullptr,
+                &(position->theta_indexer),
+                output != nullptr ? &(output->voltage_indexer) : nullptr,
+                &(status->indexer));
 }
 
 }  // namespace superstructure