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
Updated joycontrol_mix for Logitech game pad. Forward + back + OL tail flick.
Critical code fixes to get BEMF working properly in IP2.5, also added BEMF deadband for unknown creeping issue.
Updates to python scripts to suit tail robot for MAST demo.
Changing priorities and timer rates to try and get code to work on ip2.5
Further debugging attempts
Telemetry save and download now works.
1khz IMU, telem, and download now conisdered working.