Support for minimising the steering angle difference between previous and next angle#1

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roboticlemon wants to merge 1 commit intogurbain:swerve-drivefrom roboticlemon:swerve-drive-min-angle-diff

+59-5

Commits on Aug 25, 2020

Added additional code to support a minimum steering difference optimisation that prevents continuous steering joints from moving more than a quatre turn. Modified the test yaml and added a descript…
Tom
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