Updated algorithm for velocity estimate, so works at low speeds
Added QEI period filter, Converted PID module to use configurable precision
Added Andrew_SJ test-code to foc_display_shared_io_manager(), Updated inner_loop.xc to use cmd_veloc and req_veloc
Andrew_SJ test-code selectable via a define
Merged 2 switch( motor_s.state )
Added new motor states WAIT and PAUSE to allow test schedule to stop/restart motor: Required increased Tick limit in WatchDog
Renamed states to WAIT_START and WAIT_STOP: Motors now stop in 250ms, Refined reset_motor() and init_motor(), This code now passes all Andrew_SJ tests!)