Tune Turret PID and Tolerance Limits

## 3. Turret PID & Limits

The independent left and right turrets need precise PID tuning to aim quickly without oscillating.

**Parameters to Tune (`RobotMap.Turret`):**
* `MAX_ROTATION_DEGREES` / `MIN_ROTATION_DEGREES`: Update these based on the physical hard stops of your mechanism to prevent the turrets from tearing out their own wires.
* `LEFT_TURRET_X_OFFSET`, `LEFT_TURRET_Y_OFFSET`, etc: Used for Odometry fallback targeting. Measure the physical distance from the exact center of the robot to the center of rotation for each turret.
* `kP, kI, kD`: Standard PID gains. The current values are placeholders. Tune these using Phoenix Tuner first to ensure the turrets snap to their targets without excessive jitter.

Start by locating the RobotMap.Turret parameters and reviewing how the independent left and right turrets use them. Use the physical hard stops and turret centers to determine the rotation limits and offsets, then tune kP, kI, and kD with Phoenix Tuner. Done means the turrets stay within safe limits, aim quickly, and do not oscillate or jitter.

Written by the indexing model from the issue text.