Maslow Firmware Version 0.94

Firmware version 0.94 includes even more brilliant contributions from @krkeegan. In the past we have had issues with something called "quantization noise" at low rpms. Basically what's happening is that when the motor is turning at low speed it hasn't moved very far in the 10ms window at which we measure the speed (say 20 encoder steps). Even if the motor is turning at a constant speed, this value can jump back and forth between say 20 and 21 steps which makes the controller think that the motor speed is changing. @krkeegan's approach has been to use the number of microseconds between pulses instead of the number of pulses per 10ms at very low RPMs. Brilliant! 👍 👍

#320 Fix Error in Quantization Buffer; Allow RPM to Approach 0 2 days ago
#319 Configurable Loop Timing; Improved Movement Loop Timing; and Debugging 3 days ago
#318 Improvements For Low RPM Speed Calculation 7 days ago