Refactor RPM calculation and clean up code | TEST on Thursday #2
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Updated RPM weight and removed commented-out code for clarity.
Refactor RPM calculation and improve code clarity.
Updated pin assignments and cleaned up variable names for better clarity. Adjusted PWM setup and removed unused pin configurations.
Added comments on formulas in `pid` function and notes on if-statement logical tree for troubleshooting insights. Explained the purpose of direction guard clauses and why we us `fabs`.
Refactored periodic timer callback to be IRAM-safe Moved encoder processing out of the IRAM-based timer callback and reduced it to a minimal snapshot + flag handoff. Prevents crashes caused by non-IRAM-safe function calls inside the high-priority timer context.
Updated comment for esp_attr.h inclusion to clarify its purpose.
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Updated RPM weight and removed commented-out code for clarity.