Cardinal Point Control of turret

[iamr2003]

Drivers want a control where you hit one of the diamond array of buttons(ABXY) and the turret jumps to the corresponding cardinal point, then starts targeting again. This is to deal with FOV/false target issues. Control doesn't need to be perfect, it can just be bang-bang(probably better) or PID with very large acceptable error. Make sure it flips back to auto-targeting once it gets close enough. Goal is that its fast, not necessarily accurate. Make all the cardinal points controls, so we can change them on the fly(or even in auto).

This might require some more complicated architecture work, so coordinate with Ibrahim if you are unsure how to switch states. If architecture outline is done by that point, branch and use that instead

[iamr2003]

I believe this was completed, at least to marginal satisfaction