RSDK-2478: Update encoder driver methods

[martha-johnston]

This covers RSDK-2477 (Add client and server files), RSDK-2478 (update driver methods), and RSDK-2479 (add encoder to registry), to make separate driver packages for single, incremental, and AMS encoders.

[npmenard]

LGTM, have you tested the changes on hardware?

[martha-johnston]

This PR is not ready yet I will update with a comment when it is. Realized I forgot to add a function.

Sorry that you already reviewed @npmenard, but yes I did test on hardware and will retest when I'm actually done!

[martha-johnston]

Should be ready now but won't pass the checks until api changes are merged

[gvaradarajan]

sorry, I clicked approve on the wrong PR, I'm still reviewing

[gvaradarajan]

Nice job, just a couple requests.

[gvaradarajan]

[if-minor] I think we can use inject.Encoder for this purpose; setupInjectRobot can return a state object with these fields that gets mutated by the injected methods via closure. Then you can check the values on the state in the tests. Helps with codebase consistency if everything is using inject, but if it turns out to be too much trouble don't force it

[martha-johnston]

leaving this as is for now

[randhid]

The really important change is in motor_encoder.go, the rest are optional and I agree with Gautham's comment about trying our best to not pass in protobuf structs.

[martha-johnston]

@gvaradarajan @randhid I think I covered everything, but it resulted in a lot more changes so let me know if anything else comes up!

[randhid]

[nit] typo + maybe add

Suggested change

	errors.New("cannot create an encoded motor without an encoder that has propery TicksCountSupported")
	errors.New("encoder type is %v need an encoder that supports Ticks for an encoded motor", props)

already approved