Add fault protection for input/output encoder mismatch on ELMO Platinum Drives

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Add fault protection for input/output encoder mismatch on ELMO Platinum Drives #77

Open kwehage opened 1 year ago

kwehage commented 1 year ago

Once we support #76 , then add opt-in fault protection if (calibrated) input and output encoder differ by configurable amount. This will allow us to fault on loss of calibration.