Encoders for testing

[virtuald]

The encoders are driven by the way that they're initialized underneath the hood, and it's a bit odd. Perhaps the HAL implementation will get updated this fall and it'll get better. Sorry about the lack of documentation. Feel free to improve it and submit a PR.

You'll note of course that the place where the implementation tends to be strong is in stuff that we used, and as you mentioned I like to attach encoders to the CAN devices directly instead of using them standalone.