Attempt to fix Odometry inaccuracies

[jeffzakrzewski]

1. Don't use error prone relative encoders for angle for odometry or wheel spin cals, use the non slipping absolute encoders.
2. Remove 4x threads by shifting sync encoder operation to updateModules thread
3. Introduce optional gradual encoder sync - more accurate driving, at cost of ~5% canbus utilitzation
4. Optimize Limelight tag acquisition, don't just accept all updates all the time. Put a distance scaled STDDEV, penalty for < 2 tags, jumpy distance cutoff.
5. Must do wheel diameter measurements after this is applied.