Automatic motor encoder reset upon limit switch activation

[viggy96]

It would be nice to have a feature such that the built-in motor encoder can be automatically reset to a user specified value when either connected limit switch is hit.

[KenwoodFox]

We had to get around this a season back when using optical encoders to reset our swerve modules to a specific state. Sucked that the delay over CAN was so long, it took like 100ms to send the correct value to the controller after the controller published that it had been triggered over CAN
60ms one way, 40ms the other