Docs: fix Error: no ID for constraint linkend: in spanish docs

Signed-off-by: John Thornton <jthornton@gnipsel.com>
Docs: fix min angular velocity description and spelling errors

Signed-off-by: John Thornton <jthornton@gnipsel.com>
Docs: make the descriptions of a rapid move use the same terms

Signed-off-by: John Thornton <jthornton@gnipsel.com>
Docs: add info on how to calculate base thread for software encoder

Signed-off-by: John Thornton <jthornton@gnipsel.com>
Fix overflow in rtapi_get_time

As reported by Michael H.
Merge branch 'v2.5_branch'

Conflicts:
	docs/src/config/stepconf_es.txt