Removed floating points from stepper methods to set RPM and degrees. Instead they are specified using integers multiplied by 10k. So to set an RPM of 12.3456 you would actually use 123456
The _RPMx10ktoFreq() method now looks like it's returning the correct values since switching to integer arithmetic.

Note, keep an eye on the last few lines of the map file to make sure we don't overflow the amount of on-board flash or sRAM.