Updated WatchDog to monitor both motors. NB If either motor stops. WatchDog kills Power
Put each QEI server on its own core, Got both motors spinning upto 4000 RPM, wiht a bit of a re-tune of D-PID
Snapshot before changing QEI Encoder to regular sampling algorithm
Debug: inner_loop.h and qei_common.h updated
Debug: qei_server.h updated
Debug: QEI_PHASE --> QEI_PERIOD type changes
Debug: inner_loop.xc updated
Debug: qei_server.xc new rs functions added
Debug: qei_server.xc New init and clock config added
Converted QEI server to use Regular Sampling, current sampling every 256 ticks
QEI_server: Added timing check, this pushed out sample preiod from 128 to 160 ticks
QEI_server: Added velocity estimate every 100K ticks
QEI_server: Conerted to using total-angle (from time=0)
QEI_server: Changed Upate_speed to Update_velocity
QEI_server: Interleaved 'buffer-full' events
Moved Velocity from QEI server to Control Loop
Both Motors spinning semi-closed loop. 192 ticks/QEI_sample
Both Motors spinning semi-closed loop. 176 ticks/QEI_sample
Converted to use Velocity estimate based on QEI period
Both Motors spinning fully-closed loop!)