Finalizing MSP430 motor controller#52

Merged

SchwartzCode merged 21 commits intojustin/fprime/navigationfrom

jSchwartz/motorController/finalization-#51

May 1, 2021

Commits on Apr 10, 2021

Checking in latest motor control code, still changes to be made
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Commits on Apr 11, 2021

Ignoring build folders (release & debug)
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Integrated open loop control (that will actually drive rover) and connected it to i2c interface; can be toggled with first bit in controlRegister
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Added flag for position converging in status register, also cleaned up how controlRegister works a bit
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Fixed telemetry values to match C&TL document
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Commits on Apr 12, 2021

Added internal check that motor is opreating as expected; if it isn't for several time steps then a flag is added to status_register and controller stops trying to drive motor (until it is given a …
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Added ability to toggle controller stopping itself when a fault is encountered
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Made fault register useful (indicators for faults of position not changing or driving in the wrong direction)
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Commits on Apr 13, 2021

Commits on Apr 15, 2021

Debugging motor control i2c (thanks justin :D)
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Commits on Apr 16, 2021

Commits on Apr 23, 2021

Working on open loop
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Commits on Apr 27, 2021

Open loop bug resolved, also will now converge and change flag
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Added timeout to motor controllers (~128 seconds), implemented EXECUTE_COMMAND bit of control register, added ability to override default open loop PWM and control it using the desired speed given …
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Commits on Apr 28, 2021

Going to revert back to older commit
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Commits on Apr 29, 2021

i2c funkiness (part a million) resolved. Must. not. put. too. much. in. interrupts.
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Commits on May 1, 2021

Checking in code after testing with Justin
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Fixed i2c readings for speed & current PI gains, also updated timeout counter to actually work
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Cleaned up code & corrected small bug with integral term being fully reset (caused stop-start behavior when given large position setpoints
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