motorlearningfirmware

no linear control method will work because the pwm input to current output is non-linear (sigmoid). Tapers off towards max current output. Matched sigmoid using python scipy.optimize.curve_fit and measured everything across input5. Also added a low-pass filter in case that comes in handy for current measurement. Changed the frequency output from 7.81kHz to 31.4kHz with a change in resolution from 1023 to 255. But 255 gives a resolution of around 1.41deg per unit and 9.8mA / unit so it's really not that bad