Fix curvature drive algorithm and improve docs - #19
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Fixes linear and angular power being swapped while turning in place, and adds missing
sincall in second remap ofremap_turn. Adds more detailed docs forslewandturn_nonlinearityconstants, removes unusedquick_stop_accumulatorvalue (holdover from BLRS implementation).Also adds some small code refactors and an assertion on
turn_nonlinearityfor correctness. The algorithm could technically still run even if the assertion is violated, but its output wouldn't make any sense.