Encoder debugging ideas, commenting, robot mapping

A bunch of small cleanup changes:
-Added a commented in change... use driveLeftE.reset() instead of driveLeftE.start() on button press. Can't tell what the behaviour would be if we start an already started encoder.
-did some commenting and notes asking for additional commenting
-Started some robot mapping (PWM and Digital IO "dio" channels)
-Minor formatting of text/comments.