Moteus

* Make motor_position.output.sign=-1 actually work. This has been broken since release 2023-05-31
* The bootloader will now respond with BRS off if the query was sent with BRS off
* The bootloader will attempt to automatically recover from busoff events

* Provide better semantics for acceleration or velocity limited trajectories when the target velocity is non-zero. Now the semantics are, "match the trajectory x = x_command + v_command * t"
* In some cases, commanding position mode within a few ms of power-on could result in an assertion failure
* `conf default` now takes effect immediately for all configurable values
* Read UUID from OTP when available, this means `conf default` will no longer erase it

* Improve ADC performance across all moteus revisions

Resolve output drift with non-unity `motor_position.rotor_to_output_ratio`:

Previously, for some values of `motor_position.rotor_to_output_ratio`, the output position could drift over time. This would manifest as an incorrect reported position, and if under control, an incorrect controlled position. Torque and velocity control worked correctly, and still do. This was most common with irrational or non-power of two ratios, although the rate of drift varies depending upon what ratio was selected.

Improve initialization of AS5047P encoder

When using the onboard AS5047P encoder, the relative position was previously incorrectly offset from 0.0 on startup, which could result in the output position not being within +-0.5 * rotor_to_output_ratio as intended.

Support moteus-n1 r1.3 boards

* Make the I2C startup delay 30ms and be configurable
* moteus-n1 boards now have a default flux braking minimum voltage of 52V

* Improve ADC performance
* This fixes a regression for moteus-r4.11 boards in 2023-03-10
* It also generally improves the performance for moteus-n1 boards