For fading-down and delay-between-state-change to work correctly when switching between motorstates
(e.g. FWD -> REV) the handle function was changed.
using a duty value -100 for reverse 100% and +100 for forward 100%
allows are more mathematical approach
changes to motorctl.cpp:
- convert state and duty to duty -100 to 100 when receiving target
command at start
- convert duty -100-100 back to state and duty at the end for applying
motor commands
cd804452e4