Number of big updates:
Corrections to the FOC algorithms,
Implementation of series PI controller and pole zero cancellation gains,
Write PWM at top and bottom
Crude HFI implementation (works surprisingly well with not parameters; tuning methods to be included in a later branch)
Correction to interrupt priority and preemption
Parametise various things
Input options and selection
Optimisation level change to O2 and manipulation of parameters and function to run much faster
Number of big updates: Corrections to the FOC algorithms, Implementation of series PI controller and pole zero cancellation gains, Write PWM at top and bottom Crude HFI implementation (works surprisingly well with not parameters; tuning methods to be included in a later branch) Correction to interrupt priority and preemption Parametise various things Input options and selection Optimisation level change to O2 and manipulation of parameters and function to run much faster