Updated AutomatedTransfer_v2 and accompanying VIs (folder: crio-FPGA-control-testing-v5), now with:
1. The new variables kvc, ymod, mar, and bp for the updated control law are passed down into 'R2R-Controller.vi' via the cluster 'Custom Controller Inputs'
2. The new variables ba, ksa, kisa, and k_backemf for the controller calculations can be sent out of 'FPGA Main.vi' and up to 'AutomatedTransfer_v2' (i.e., the PC level) via the cluster 'Controller Calcs'
3. The new variables bo, kso, and kiso for the observer calculations can be sent out of 'FPGA Main.vi' and up to 'AutomatedTransfer_v2' via the cluster 'Observer Calcs'
4. The new variables k_1, k_2, Frr (force ramp rate), and xrr (position ramp rate) can be sent out of 'FPGA Main.vi' and up to 'AutomatedTransfer_v2' via the cluster Other Calcs'

Notes:
i. The word lengths for the new variables (all fixed point) need to be changed based on the expected ranges and required precisions of the numbers. The new clusters (Controller Calcs, Observer Calcs, and Other Calcs) are all typedefs, so those changes can be made to the typedefs.
ii. The updated 'Custom Controller Inputs' cluster gets sent all the way into R2R-Controller.vi, so those variables (kvc, etc.) are ready to be used for the updated control law (only 3 of them are being used now). All the new variables that will be calculated inside of the updated R2R-Controller.vi (e.g., ba, bo, etc.) need to be bundled inside of R2R-Controller, sent out of R2R-Controller and into 'FPGA Main', and then wired to their appropriate clusters. At this time, just serving as place holders, the number 1, 2, 3, and 4 are bundled and sent into their appropriate clusters within 'FPGA Main' (they then get sent up to the PC level for display).