Autotunng + a big reactor without API chnage

[askuric]

So this is a PR that does two things:

1. Does a big refactor of the FOCMotor code with the aim to simplify the BLDC, Stepper and HybridStepper motor codes
2. Implements a more flexible autotuning from the Current PI Autotuning #426

Refactor

• All the common functionalities moved to the FOCMotor class
  • Sensor alignement
  • Current sese alignment
  • Motion control
  • Torque control
  • Calibration ...
• Only the truly different parts left in the BLDCMotor, StepperMotor, ...
  • Setting the phase voltages
  • init,enable,disable

Autotuning

• Baiscally the code is more or less the same as in Current PI Autotuning #426
• But it is more flexible and allows to be called from the Commander - ex MFC100 for the bandwith of 100Hz
• It can be also called in the setup. - ex motor.tuneCurrentController(100)
• It will either use the motor parameters
  • from the constructor or
  • if the current sense is available and no params are provided it will calll motor.characteriseMotor

[runger1101001]

This seems like a good refactoring to me...

One thing to maybe talk about is to make the PID and LPF classes exchangeable instead of hard-coded, and then instead of combining fixed and variable sample times into one class, to make separate classes and therefore also open the possibility to have alternative implementations.

[askuric]

I like the idea. Do you have an idea on how to do it though?
linkLPF mothod or something like that?