Semaphores, performance optimizations

-Added semaphore-PWM-change ability for forward propulsion
-Performance optimizations
Merge branch 'RTOSBuildupPrince' of https://github.com/PrinceBalabis/P2 into RTOSBuildupPrince

Conflicts:
	Software/HoverCraftSystem/ForwardMotor.ino
	Software/HoverCraftSystem/HoverCraftSystem.sdf
	Software/HoverCraftSystem/Visual Micro/.HoverCraftSystem.vsarduino.h
	Software/HoverCraftSystem/Visual Micro/Compile.vmps.xml
	Software/HoverCraftSystem/Visual Micro/Configuration.Debug.vmps.xml