SW repair for 'IRC malfunction'
Commit of version on DVD.
Regulation function now implemented with use of polymorphism.
Function Init_logs moved to right place.
Commutation function now implemented with use of polymorphism.
Logging function moved to separate file.
PI reg. constants modified according rltool results. Added possibility to interactively change offset between 'alpha' and 'a' exis.
Changes made to logging process.
Loging process modified. Now logging time, position, 3xpwm.
Now it is possible to log state data.
Speed regulation with zero error.
Added speed regulation.
Added speed computation.
Modified program exit behavior.
Controll loop now more complex.
Added user-friendly interface.
Minor changes to status monitor.
Correction of position of subroutines.
Moved monitor printoutand added better init for rpi_state.
State structure moved to separate file. Cmd poll function moved to separate file.