Refactor main exec loop functions.
Added back the step size (max error position in calculation).
Got the 1kHz timer working (just blinks red right now every second).
Refactor printing from output function.
Refactor so calc is just a single function and serial is just a single function.
Moved calculation function to 1kHz function, updated velocity iterations from 15 (@ about 10ms) to 100 (@ about 1ms).
Removed toggling the red led in the 1ms task (can't see it toggle that fast anymore when it went from 1000ms to 1ms).
Provision for setting speed and direction by calculating it.
First stab at using PWM manually, fail, committing for a checkpoint.
Added some pin settings, went back to using built in function for setting motor speed.
Merge branch 'timers'