Add controller for torque controlled winches

[ufechner7]

No description provided.

[Copilot]

Pull request overview

This PR merges the torque-output winch controller family into WinchControllers.jl, consolidating both speed/force (speed-command) and torque-command control modes into a single package with shared configuration (WCSettings) and documentation.

Changes:

• Adds torque controllers (WinchPosController, WinchForceController) plus helper functions, and exports them from the main module.
• Extends WCSettings and data/wc_settings.yaml with new tuning parameters for the torque controllers.
• Adds the DiscretePIDs dependency and updates docs/README/changelog to reflect the new functionality.

Reviewed changes

Copilot reviewed 8 out of 10 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
src/WinchControllers.jl	Imports DiscretePIDs, exports the new torque-controller API, and includes torque_controllers.jl.
src/wc_settings.jl	Expands WCSettings to cover torque-controller tuning and adjusts dt behavior/documentation.
src/torque_controllers.jl	Introduces plant-agnostic torque controller implementations and supporting helpers.
README.md	Moves torque-controlled winches from “Planned” to “Implemented” and links to the new docs.
Project.toml	Bumps version to 0.6.0 and adds DiscretePIDs dependency + compat.
examples/test_reelout.jl	Minor rename (calc_force → force_law) to avoid ambiguity.
docs/src/winchcontroller.md	Documents the new torque controller API via @docs.
data/wc_settings.yaml	Adds YAML fields for torque-controller settings.
CHANGELOG.md	Adds v0.6.0 entry describing the merged controllers and related changes.
.gitignore	Ignores build/.

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