add more TWI and interface code
rename directions
use new TWI library
reindent TWI library code
add multibyte transfers to TWI library
use uint32_t for position and target
add code for encoder motors
clear all flags on reconfigure
Do not use encoder pulses from unknown positions
invalidate position when calibrating
add MOTOR_DIR_STOPPED to avoid warning
move motor control instructions to new file
add PD6 to switch last bit of TWI address
fix reset of calibration flag
try to use interrupts
define POS_MIN and POS_TRANSIT
reduce speed when moving to target
reduce PWM frequency
improve encoder performance
add odometer to motor structures