Attach motor encoders to Yukon

[dannystaple]

Wire the encoders from the motors into the YUkon - pay attention to the wiring as the existing headers on the cables are almost certainly wrong (they were for my old 4Duino setup).

Definition of ready

• Create the yukon service with motors topics #25

Definition of done

• Encoders attached to Yukon
• Pr merged Motor service adapted to start emitting sensor/encoder left/right updates with timecodes.