added fft into master loop
added padding and tappering and fft filter, started integrating new stuff to master loop
finished adding FFT into master loop
fftw integrated and working with control loop
more testing of fft and mostly work on windowing better
added better fft windowing in control law, tested with new fft/polyfit architecture, works yay
cleaning up before merging with master
merged fft with master, went back to simple windowing, fft filtering working, added automatic prediction amount