Make Aimer robust to encoder wrapping

[aidnem]

Purpose
Handle encoder wrap-around properly.

Project Scope

• Figure out a way to handle the point where the encoder goes from 1 to 0 and vice-versa in an intelligent way.
• Make the tuning process generalized across wherever the encoder is used so that encoder values are always standardized.

[jkleiber]

@redPlover let's use this ticket to implement your idea of handling negative encoder values as 0