Conflicts:
	linear_pendulum_2009/avr/vel_control.c

Make TWI communication interrupt controlled

Make TWI communication interrupt controlled

avr toolchain.

Final version of currentControl, current_control_final, uploaded. Takes 8 bit signed reference over TWI

PI current control, sync between pwm and control period, 4*pwm = ctrl_period, longer sampling time than before, not better performance since measurements not good enough

Step response again, with lower pwm resultion in order to match pwm-cycle with sampling period, an attempt to reduce noise (but not very succesful).