Create an encoder watchdog to monitor differences between the turningMotor encoders and the absolute encoders

[bignaczak]

The robot has 2 sensors by which it can determine the orientation of the turningMotor

1. Absolute Encoder
2. Relative Encoder embedded in the motor

The absolute encoder could fail in a few of ways:

• Slippage between the absolute encoder and gear due to the mounting nut loosening.
• Slippage caused by set screw loosening
• Wire unplugged
• Sensor damaged
• 3D printed gear tooth breaks

Create a watchdog function that compares the readings between the absolute encoder and the turningMotor encoder to identify issues and alert the team.

[bignaczak]

Additional include these functions, which were moved from Encoder Calibration Issue into this one.

• Consider the driveMotor orientation (gears inward or outward on wheel), which determines whether the wheel will spin in the correct direction. Use the absolute encoder to determine if the driveMotor should be reversed to make the calibration process more robust.

• Log the absolute encoder positions during calibration and compare misalignment to the constants.