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Feat/anticogging Only Split from PR3 - #184

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manoukianv wants to merge 9 commits into

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manoukianv:feat/anticogging

Open

Feat/anticogging Only Split from PR3#184
manoukianv wants to merge 9 commits into
Ultrawipf:developmentfrom
manoukianv:feat/anticogging

Commits on Sep 23, 2026
- feat(tmc): implement non-blocking state machine, torque slewrate, initial anti-cogging and code simplification
  
  manoukianv
  authored and
  Ultrawipf
  committed
  063189a
- feat(cogging): implement DFT anti-cogging calibration, optimize RAM and command handler
  
  manoukianv
  authored and
  Ultrawipf
  committed
  d185658
- feat(pid): add dynamic PID autotuning and software velocity controller
  
  manoukianv
  authored and
  Ultrawipf
  committed
  921d976
- feat(pid): remove Ziegler-Nichols in favor of dynamic motor reads
  
  manoukianv
  authored and
  Ultrawipf
  committed
  1c46137
- feat(telemetry): update CLI commands, real-time logging, docs and memory maps
  
  manoukianv
  authored and
  Ultrawipf
  committed
  63553e8
- fix(tmc): add missing DSP header inclusions for PID and Fast Math
  
  manoukianv
  authored and
  Ultrawipf
  committed
  0d35bd1
- feat: extract anticogging (remove slew rate detector)
  
  manoukianv
  authored and
  Ultrawipf
  committed
  d798e51
- fix(tmc): add a dynamic timeout on the return home.
  
  manoukianv
  authored and
  Ultrawipf
  committed
  5585883
- feat(tmc): add manual Kp Ki for speed controler in
  
  manoukianv
  authored and
  Ultrawipf
  committed
  329428f