- Fix bug where downfade did not work when driving forward
- Add BRAKE command functionality to motorctl (untested, since not used anywhere atm)
- Cleanup: Optimize code, add comments
!!!TODO: there is a fault in the current concept/logic:
fading up/down generally works, however when accelerating
REVERSE fade-down is utilized instead of fade-up.
=> Fix that bug, fade down should only be used when decelerating.