Circle theory tidy up

[stevempope]

So there are some optimisations/fixes I would like to make - List is here for sanity checking:

• The arc length of a single pulse can easily be calculated by: Theta pi/180 Wheel radius rather than 2 pi r for circumference then * 1.8.

-Logic needs to flip if we are not simplifying the above. 1.8 is 360/200 not 200/360.

[stevempope]

Further correction, it should be 2pir divided by 360/200

[SamanthaDawsonBanks]

rmi test branch