Moteus

* Fix a defect in d61fd21e96fb2d33bc887d34d8f3ef57bf9f206d, that limited speed to half the maximum speed for a given voltage

* Support inverting the order of the phase wires in firmware
* Create "config" values to store a UUID assigned at provisioning time
* The high-rate debug port mappings have changed slightly, currents measured in amps instead of counts are now supported

* Improve the robustness of `servo.max_velocity`: This was documented as behaving poorly if exceeded, but the prior behavior would often oscillate. Now we only limit further acceleration, and permit unlimited deceleration when exceeding the velocity.

* Add filtering for the primary encoder. moteus_tool configures this automatically during calibration, the bandwidth can be overridden with `--encoder-bw-hz`
* Full rate debug information can now be emitted from the debug UART

* An AS5048B encoder is now supported on the ABS port
* It can be offset, scaled, and used to initialize the primary position
* Maximum velocity can be limited. devkits come with a 10 rev/s limit
* Maximum power can be limited
* This is intended as a last resort, as it will not interact well with outer control loops
* The DQ integrator is now limited to an achievable voltage
* If this wound up during operation at maximum speed, it could result in large delays before slowing down
* New control law for measuring motor inductance, see `d ind`
* Remove the current based feedforward term
* This was unlikely to be helping any thing with the existing velocity noise profile

* Support a new configurable option, `servo.max_position_slip`, which is effectively an anti-windup limiter for the position control loop.