Create a library for encoder -> angle / distance conversion

[BrightLaw9]

Is your feature request related to a problem? Please describe. Rewriting code every year is a time-consuming process, especially the motors and calculations will be consistent year-to-year

Describe the solution you'd like Make a library (outside of this project) that can be reused and imported in future projects. Ensure the values for gear ratios, etc.. can be easily modified (stored in a constants file as a final variable)

Include:

• Encoder --> distance (in inches or metres)
• Encoder --> angle (in degrees)
• Bounding the gyroscope rotation value between 0-360 deg

Describe alternatives you've considered

Additional context Micheal did a good job of this in the current 2023 code, take a look and use that

[MichGedd]

We don't nessicarily need an external library for this - an "ObitEncoder" or something in utils package would work as well. Regarding encoder conversions, we can do this one of two ways:

1) The way proposed here (consistent with the 2023 code) 2) Offload the conversion to the SparkMax controllers

Seeing as we are looking at offloading PID and motion profiles to the SparkMax controllers (see #42) it might be a good idea to also do the encoder conversion on the SparkMax