Change the low pass filter in the voltage measuring function to recalculate alpha at every loop so as to avoid instability caused by variable loop periods.
Finished adding the voltage, current, and rpm measurement functions. The main loop is also complete. Measurements are made at 200 Hz and output is sent at 10 Hz. These values are arbitrary and can be changed if necessary. The tachometer code was integrated directly instead of using a git submodule because it is such a short piece of code.