Feature/je mismatch calibration

Description

• Adds new faults and messages related to updated joint encoder calibration
• Calibrates new joint encoder mismatch parameters

See burt/firmware/burt-firmware!277

What to focus on

• put content here.

Reviewers

• @alexluleme
• @amyblank
• @bz
• @cw
• @ps
• @wd

Resources

Issues

What issues does this fix?

• Addresses burt/firmware/burt-firmware#263