Switched up the main file to use the generic motor controller object/class. This is the start of using generic objects to abstract away hardware implementation details from the main loop.
Suddenly realized I've got a last name. Totally inconsequential update.
Further abstraction of hardware details from main loop (This time the throttle)

Source code reformatting. The switch between various IDEs has not done great things to the formatting...
Switched DMOC to torque control.