Made a helper function for the ROC limiter, and cleaned up some code.

Fix detached head2

See merge request !3

added a set_calibration method so we can set calibration to true before we enter open loop, so that get_pot_0_scaled will work.

Simplified one_to_scaleFactor. Note debug statements are currently left in, and open loop timings are off.

added board files, made significant new debugging options in code and created a potential fix for the half bridge