Week 5 - Firmware Implementation

During this week's meeting, it has come to our attention that some of the motors will have rotational limit due to mechanical interference. Therefore, new Gcode commands are added to set the limit of rotation and the firmware will no rotate beyond the limit.

In addition, docking sequence is implemented to engage the dispenser with the topping tubes. However, the sequence is more complicated than I thought, so I'll have to make some changes next week.