Create Routines for Calibrating the Turret

[brhecker]

The turret needs to calibrate its limits on each restart. We should have 2 routines to do this

The first should

• Run the turret in the CCW direction until it hits the limit switch
• Use a constant representing the expected range of the turret to set the encoder to negative half the range

The second should

• Run the turret CCW until it hits the limit switch then set the encoder to 0
• Run the turret CW until it hits the other limit and record the encoder value
• Set the position to half that recorded value

Create Commands that run each of these routines