Height Control and Optimization

- Optimized Hover Controller, but could be optimized further. Total OP
usage dropped by around 60-100
- Removed Debug text from Hover Controller
- Added Relative Height output to Hover Controller. This number will be
the distance read by the ranger.
- Added Relative Height input to Target Controller. This takes the
relative height data from the Hover Controller and uses it to calculate
height positions.
- Added new height functions allowing it to better handle height
increases when traveling. This, however, creates strange results when
the target is V-clipping.
- Hard-coded idle hover height to 25. This makes access to the target
controller easier(assuming it is on the top of the robot).
- Optimized the Target Controller
-Updated Known issues on both the Target Controller and the Hover
Controller