radio commands using new packet queue, position reading as long [16].[16]
position control working after swapping motors and signs
added telemetry.c to handle telem functions, spilt cmd.c into used/unused. pid with hall + telemetry works. A/D (bemf) not working yet.
PD control working with signed velocity values. gyro not checked
gyro checked - works ok. Python updated to tolerate missing packets.