Lifts reverse? and the implicit centering offset into the actuator's transmission
BB.Servo.Feetech.Actuator no longer takes a reverse? option, and no
longer derives a center_angle from joint limits. Both pieces of
behaviour have moved into a per-attachment transmission block in BB.
This upgrader rewrites every robot module in the project: for each
actuator with BB.Servo.Feetech.Actuator as its driver, it removes
reverse?: from the actuator's options and nests a transmission
block inside the actuator's own do/end when reverse?: true was
present and/or the joint's limits were asymmetric (so that (lower + upper) / 2 is the angle the servo's hardware centre used to map to).
It also handles re-running from older versions where the transmission
sat at the joint level: any joint-level transmission block is moved
into the matching actuator.