SW repair for 'IRC malfunction'
Cosmetic changes.
Regulation function now implemented with use of polymorphism.
Commutation function now implemented with use of polymorphism.
Remeoved unnecessary code.
Logging function moved to separate file.
Speed, index and position computations moved to separate file.
All SPI stuff moved to rp_spi.c
Commutators moved to separate file.
Controllers 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.
Changed naming convetions, pid modified