Switch to Duty-Cycle, remove inversion, clean up various functions #165
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The switch to duty-cycle does give 'better' values that are in the right range without having to divide by 12.
One discovery is that the wheels don't go to the 0 position when calling centerModules(), but will set to 180 if they are closer to that. Starting the robot with the wheels set close to their origins fixes this. The need to do this explains why we had to invert some motors. So, once that was discovered, the inversion code was no longer needed.
The clean up is just for better consistency of a few things like using DutyCycle in the Angle function and Degrees in the mutable. I also made use of withTImeout instead of deadline with in the command.