Implement M593.3 Read Motor Driver Encoder in the 1HCL.

[LindsayC]

Implement M593.3 Read Motor Driver Encoder in the 1HCL. Have it work in open loop as well as closed-loop and assisted open loop.

[LindsayC]

@LindsayC And make it a parameter in the object model. This is actually more important.

[davidjryan]

@LindsayC Ditto!!!!