Document Odrive usage

[nico-palmar]

I have re-organized our confluence and want to have some good documentation on odrives. Can you guys please look at this section: https://uwaterloo.atlassian.net/wiki/spaces/UWRT/pages/33962265502/ODrive+Motor+Controllers, delete what is not needed, and add new stuff (ie. do whatever you want to the Odrive Motor Controller section).

I would like to have documentation on how to set up a single odrive motor controller (what steps you would need to take for one specific motor with one specific encoder, this is for configuring odrives).

Also, there should be documentation on usage with odrives (calibrating odrives, basic debugging things that are common and good to know, including errors with CPR, encoder errors that are common, etc). This section should also include the control modes (velocity, position, etc). When to use which one, and how to set it up.

Finally, you should add some stuff on how to tune odrives using the tweaked-PID control loop that they are using. @singhb2020 did this during SAR so some docs on this would be great