The first version of the Motion Observer block in R2R-Controller.vi has been built. This includes shift registers in 'FPGA Main.vi' for updating the state variables. The fixed-point configurations for all the variables have not been properly assigned yet, but the block is now ready for Erick's review of the basic architecture.

However...
The compilation failed due to resource overmapping (i.e, the VI requires more resources than are available). The report can be found by going under 'Build Spefications' and right clicking on 'FPGA Main_2' and choosing 'Display Compilation Results'. So the VI already needs to be simplified (e.g., remove objects from the front panels, reduce the amount of logic, etc.), even though we still have to add most of the Digital Controller block, which includes the Command State Filter block.