[🐛BUG]Negative tpi inverts tracker reading

[cjsport11]

Describe the bug
Making the tpi negative inverts the value of the encoder

To Reproduce
Make the tpi negative

Expected behavior
A different method to flip the encoder value. Absolute value or constraints on what the user can enter for tpi.
Also, the ability to pass both ports for the encoder would be beneficial over a hardcoded port +1 for the second port.