ESP32 VCU code

Welcome to the VCU repo! This is all written in native C, with RTOS as the underlying operating system. This avoids a significant amount of Arduino bloat that comes with using it.

RTOS Tasks

1. Can Receive Interupt
   1. Rate: N/A (interupt/blocking based)
   2. Priority: 10
2. Send Torque Commands
   1. Rate: 50Hz
   2. Priority: 9 (should be high)
3. Read Throttle
   1. Rate: 100Hz
   2. Priority: 8
4. Read Acceleration
   1. Rate: 800Hz (based off of interupts of when its ready, but the low pass filter can be set programatically)
   2. Priority: 7
5. Read Motor Speeds Over CAN
   1. Rate: 50Hz
   2. Priority: 6
6. Read Real Motor Torque Over CAN
   1. Rate: 50Hz
   2. Priority: 5
7. Read Gyroscope
   1. Rate: 1000Hz (based off of interupts of when its ready, but the low pass filter can be set programatically)
   2. Priority: 4
8. Read Motor Temperatures
   1. Rate: 1Hz
   2. Priority: 3
9. Read Motor Controller Temperatures over CAN
   1. Rate: 1Hz
   2. Priority: 2
10. Read Steering Angle Sensor
    1. Rate: 10Hz
    2. Priority: 1