Limit operation range of the instrument rotator

At the fitting test to Popt2, we found that we had missed definition of InR at installation. We assumed InR=0 at installation, but it supposed to be +90. As a result, InR operation range is limited from -180 to 270. (Note sign should be double checked by someone)

From the h/w point of view, both PFI and Pop2 has the limit switch, although one is to be installed at -180 deg. So s/w should limit operation range to protect PFI.

It is not sure on which level we should limit rotation, but Gen2 (by eric) should one place to limit operation.