4/21 Code Restoration

Partial restoration of lost work. New things implemented as well:
- Step counting and a takeSteps function
- Re-scaling everything for microstepping, 8x; resolution is now on part
with machine's XY resolution
- Accuracy seems to be about 40 microns from BB to BB running open loop

Still need to implement milestoning code using analog sensor; this will
prevent error accumulation.
A good start

Mostly working foundational code involving the surprisingly tedious
hole-centering function. Most of the length is as a result of having to
account for backlash; always approach position tasks in the feed (FWD)
direction.