message: Add descriptions and units to the encoder parameters in docs
diff: @@ -1063,20 +1063,52 @@ interfaces:
  HALL_NOT_CALIBRATED_YET:
  is_ready: readonly bool
  index_found: readonly bool
  - shadow_count: readonly int32
  - count_in_cpr: readonly int32
  + shadow_count:
  + type: readonly int32
  + unit: counts
  + doc: Raw linear count from the encoder.
  + count_in_cpr:
  + type: readonly int32
  + unit: counts
  + doc: Raw circular count from the encoder on [0, cpr)
  interpolation: readonly float32
  phase: {type: readonly float32, c_getter: phase_.any().value_or(0.0f)}
  - pos_estimate: {type: readonly float32, c_getter: pos_estimate_.any().value_or(0.0f)}
  - pos_estimate_counts: readonly float32
  - pos_cpr_counts: readonly float32
  - delta_pos_cpr_counts: readonly float32
  - pos_circular: {type: readonly float32, c_getter: pos_circular_.any().value_or(0.0f)}
  + pos_estimate:
  + type: readonly float32
  + c_getter: pos_estimate_.any().value_or(0.0f)
  + unit: turns
  + doc: Linear position estimate of the encoder, in turns. Also known as "multi-turn" position.
  + pos_estimate_counts:
  + type: readonly float32
  + unit: counts
  + doc: Linear position estimate of the encoder, in counts. Equal to `pos_estimate * config.cpr`
  + pos_circular:
  + type: readonly float32
  + c_getter: pos_circular_.any().value_or(0.0f)
  + unit: turns
  + doc: Circular position estimate of the encoder, as a decimal from [0, 1). Also known as "single-turn" position.
  + pos_cpr_counts:
  + type: readonly float32
  + unit: counts
  + doc: Circular position estimate of the encoder, on the space [0, cpr).
  + delta_pos_cpr_counts:
  + type: readonly float32
  + unit: counts
  + doc: Circular position delta of the encoder in the most recent loop. Primarily for debug purposes, it indicates much the encoder changed since the last time it was checked.
  hall_state: readonly uint8
  - vel_estimate: {type: readonly float32, c_getter: vel_estimate_.any().value_or(0.0f)}
  - vel_estimate_counts: readonly float32
  + vel_estimate:
  + type: readonly float32
  + c_getter: vel_estimate_.any().value_or(0.0f)
  + unit: turns/s
  + doc: Estimate of the linear velocity of an axis in turns/s
  + vel_estimate_counts:
  + type: readonly float32
  + unit: counts/sec
  + doc: Estimate of the linear velocity of an axis, in counts/s.
  calib_scan_response: readonly float32
  - pos_abs: int32
  + pos_abs:
  + type: int32
  + doc: The last (valid) position from an absolute encoder, if used.
  spi_error_rate: readonly float32
  config:
  c_is_class: False
  