Re-Homing function

[Coreyboy1820]

We need to be able to press a button on mc side and have the functionality of resetting the homing offsets, this would be helpful if the homing messes up and the offsets ended up being slightly off one time.

[starphys]

Waiting on multiencoder from libhal, setting up the framework for this now.

[Coreyboy1820]

@starphys any updates?

[starphys]

I think we're still waiting on multi-encoder, but we could probably find a different approach if this is something we want soon. We also refactored a lot of code since I was last working on this, so I'll move it out of in-progress while we decide next steps.

[kammce]

@starphys and I observed the rover losing connecting and the wheels getting misaligned yesterday when testing.