Added a TurretEngine to manage a pan tilt turret on top of Stikklar.
Refactored the *Engine classes to use the same bioloid controller where they reconfigure the poseSize and the index/servo mapping as needed.  The turret then sneaks into the setup so we can write to all servos at the same time except when setting wheel speed as they lie in different registers.
Refactored the data arrays in the WheelEngine and made them static const and changed the ids to unsigned char instead of int.
Modifed the WheelEngine to turn with all four wheels which proved slightly simpler and cheaper and alot cooler. Readjusted the input to cap the turn angles with respect to the commander to maximise the turn angle without moving the pivot under the body itself. Caused angle madness when the inner joints passed the 90 degrees.