Release candidate for usb-rigid-tapping

* RIGID_TAP of emccanon.cc: prepare spindle velocity, accel, and jerk
* tpAddRigidTap of tp.c: prepare tc for TAPPING and REVERSING
* tcGetPosReal of tc.c: calculate xyz position based on spindle progress
* control.c, motion.c: prepare HAL signals to interconnect with spindle.comp
* spindle.comp: spindle component that takes velocity and position commands
* configs/araisrobo/miller: 3 axes milling machine for usb-rigid-tapping