Porting bemf velocity control to ip2.5c. Also cleaning up PID and leg_ctrl modules in the process.
Ongoing updates to clean up legctrl.c/h, and port to ip2.5
Further work to port BEMF velocity control ip ip2.5. Project now builds, not HW tested.
Brought in correct verison of adc_pid.c, in ip-lib
BEMF readings from legs now work. leg-ctrl does not move legs, for unknown reason.
BEMF control of legs now working on IP2.5