- It was found that publishing the topics from the manager took up too much bandwidth on the serial connection. Instead the MCU now only forwards the encoder data for a Odom manager on the PI.

Minor bug fix of RobotParams::GetWheelCircumference returning radius instead of wheel circumference.

Some minor cleaning of source files.

Fixed some metadata for building microros. Error arose as the Odom message caused overflow inside the allocated microros serialized buffers, and as such, could not publish data.

Fix: Increased size of buffer in the CMAKE flag for building the static library

For reference:
https://github.com/micro-ROS/freertos_apps/issues/62

Fixed error where incremental encoder ticks was never stored, and as such, the odometry could not be calculated.

# Conflicts:
#	DRobotti_SpeedControl/Core/Src/freertos.cpp

Error was in WheelEncoder::ConverToRPM
     - In If statement where a assignment = had been used instead of a conditional ==

Bug found where the global state of speed in shared resources is not updated after refactoring. Pushing this as documentation.

Investigating bug.

 - Changed MotorControl Task Scheduling though relative sleep calls to wakeup calls from an external timer (Tim7). As should have been done from the beginning.

- Focus on seperation of auto generated and written code through subfolders
- Renaming of classes
   - MotorDriver -> VNH5019 (Specific motor shield driver)
- Started to move global semantic enums out of nested class namespaces as to streamline their use (e.g, Units of speed, units of length, right/left rear wheel and so on)

Based on initial misunderstanding of FreeRTOS preemptiveness, a rather unrealiable and complex data syncronisation mechanism was employed, which responsibility to uphold was placed solely on developers. This push implementes FreeRTOS mutexes in the wrapper AccessGuard class, which acts as a wrapper for data to be guarded by mutual exclusion between tasks.

Pi Updated to focus on the difference between the absolute values as the direction is handled by the motor driver.

Currently the robot can do laps given a constant heading angle change without visible drift - Yay!

 - Fix error where ki_ in the regulator is set to zero (expected due to implicit integer conversion from float)
 - Decide upon speed input for regulator (m/s vs RPM)
 - Capture test data and compare with digital simulation