Add velocity array support for trajectories scan

[LeandroMartinsdS]

This PR is related to the working in progress to remove the velocities calculation from the motion program, and bring it to the driver level.

Some points that still need to be addressed, some of them discussed with @coretl , @ajgdls and @JimboMonkey :

• [x] Fix white spaces to make it clear where are the changes
• [x] Implement the velocities calculation in the driver level instead of in motion program
  • [x] Rollback appendVelMode/appendVelArray to append
  • [x] Substitute VelType for CalcVel, and remove from the broker
  • [x] Set CalcVel using asyn
  • [x] Port the equations from the motion program
• [x] Stop sending the VelMode
• [x] Update motion programs removing the velocities calculations (and correspondent subprograms)
• [x] Update the memory buffer
• [x] Bump motion program version
• [x] Update tests

If I'm missing something, please let me know.

[ajgdls]

Hi @LeandroMartinsdS I agree with your bullet list of tasks to complete this implementation.

[ajgdls]

Hi @LeandroMartinsdS at the moment it is not possible to download the motion programs to the PMAC. I think there are a few syntax errors in the pmc files. I would recommend the following checks:

• Remove any commented lines (I notice a few where there is a "//" but not a ";") to prevent download errors
• There are still instances of using variables (e.g. Prev_A) but these are no longer defined in the script as they have been commented out.

[ajgdls]

Hi @LeandroMartinsdS mostly minor comments, just the velocity mapping that looks incorrect (V and W mixed).

[LeandroMartinsdS]

@ajgdls changes are all pushed.