Fix PID derivative-kick issues and add integral-windup mitigation

[SerrialError]

Derivative fixes

• Differentiate the measurement instead of the error, removing derivative kick on setpoint changes (technically doesn't really matter as motions currently only use a fixed setpoint).
• Gets rid of the first-tick derivative spike by setting the prev_measurement to the starting measurement when the controller is initialized to set the derivative to be 0 on start

New anti-windup mitigations

• Conditional integration freezes the integral term while the output is at max (always on).
• Windup clamping clamps integral term to a settable max (defaulted as off)

New PidMode (Position/Velocity)

• Changes Integral Reset to only happen in Position PID controllers as Velocity PID Controllers flip signs constantly (set to Position mode by default).

Also adds a reset() to help prevent first-tick derivative kick if a controller isn't cloned as well as assorted formatting fixes.