moving away from admittance and going to impedance control. added pid, discrete control design and open loop ramp rate. Eliminated a lot of dev fluff

created a control and admittance discrete transfer function with coefficients designed for a rise time of 0.6s

Added a number of new classes and changes. The pwm for pins 11 and 12 have a 10-bit res option with no prescale divider for the clock. The config file contains the plant transfer functions. Implemented the feedforward plant driver along with the PD controller and plant with switching modes between current measuring and motor driving.

added i2c and averaging for the current sensor. attempted to work the stepper motor but the driver fried. Broke likely due to regular connection and disconnection of the motor while still powered on.

Added i2c for current sense (note only works if wired via power supply, accelerometer to angle conversions implemented. For motor, measure via the y axis, minor reconfiguring of libraries. Note that PING is used elsewhere in other libraries. Might be better to call it 'COMPING' or 'SERPING'