[RSDK-8486] Fix 28byj-48 control issues

[randhid]

Addressed in this PR:

• allow SetPower Calls to move backwards.
• allow SetRPM calls with rpms above the max rpm to move with the maxrpm, and add a warning saying we're moving at the maxrpm
• isMoving returns a correct state of the motor false when stopped, true when moving
• ResetZero position does not falsely report that the motor is moving after resetting the position.

Manual testing:

• control page execution of SetPower +ve/-ve, observed motor going forwards when expected and backwards when expected. 0 power did not move the motor.
• control page execution of SetRPM +ve/-ve, observed motor going forward when expected. 0 rpm did not move the motor, magnitudes of rpm > maxrpm did move the motor with the added warning.
• control page GoFor with combo of -ve/+ve rpm and -ve and +ve revolutions. Observed motor motion going forwards when expected and backwards when expected.
• control page execution of GoTo moved the motor to the desired position, with -ve or +ve rpm.
• SDK code run, GoFor, GoTo blocks, SetPower does not.
• SDK code ResetZeroPosition stops a SetPower call and resets the position as well as setting is moving to false and returns 0 power, false on from IsPowered.
• No hangs in server shutdown from SetPower interrupting GoFor or IsPowered run from a client script while a SetPower call is running.

[github-actions]

Warning your change may break code samples. If your change modifies any of the following functions please contact @viamrobotics/fleet-management. Thanks!

component	function
base	IsMoving
board	GPIOPinByName
camera	Properties
encoder	Properties
motor	IsMoving
sensor	Readings
servo	Position
arm	EndPosition
audio	MediaProperties
gantry	Lengths
gripper	IsMoving
input_controller	Controls
movement_sensor	LinearAcceleration
power_sensor	Power
pose_tracker	Poses
motion	GetPose
vision	GetProperties

[martha-johnston]

what caused this to change?

[randhid]

I added a new logger line to tell the user that we're setting the rpm to max, not stopping, when we're passing in an rpm larger than the maxRPM, it was stopping because the logic previously called a stop when any warning was returned from CheckSpeed, not we only stop when an error is returned - the zero rpm error.

[randhid]

So now we check the entry before last to make sure it's the maxrpm warning that we expect.