Update turn_to_angle() logic

[aaron4522]

• Spawn a thread to wait until the boat reaches the specified angle and to return the boat's rudder to home position
• Argument to enable/disable tacking
• Raise an exception if the boat fails to turn to that angle (mostly so that we don't get stuck in an infinite loop of failed tacks)
  • Occurs on timeout or if the change in angle is stagnant

[aaron4522]

Testing current code works but requires wait_until_finished to be true. Still needs to be smarter.

[aaron4522]

Closed by #c3c35ce.

• Still no tacking checks, changed to Speed Check before Tacking #43