Measure and implement encoder bounds for subsystems

[adein]

Arm, Winch

The measurement of the min/max bounds for the encoders needs to be done with the final robot. Once those are measured, the code to limit bounds needs to be enabled if it isn't already. Things to take in to account:

1. The minimum may not be zero, depending on the starting point of the subsystem
2. There is slack in the chains, causing some variation in the encoder values