Swerve azimuth control

Got PID working for one module, though it probably still needs to be tuned. Also I need to figure out the logic for wrapping around since the encoder measures values from 0-1023 which I have mapped to 0 to 360, but after 360 it goes back to 0 which complicates the logic a bit. I also need to implement the logic for the swerve just switching the wheel rotation direction rather than rotate the entire module 180 degrees whenever it can. Realistically, the module should only ever rotate a max of 90 degrees from one input to the next