Make MoveTo blocking; add StartMoveTo

[gcl8a]

MoveTo/StartMoveTo should parallel the behavior of MoveFor/StartMoveFor

(oh, crap, there I go with uppercase again...you know what I mean ;-)

[madhephaestus]

depends on #34

[madhephaestus]

Can you be a little more specific on expected behavior?

[madhephaestus]

I took a close look at moveTo and fixed a small bug in how it calculates the time

I also switched from sinusoidal interp to bezier and its a lot snappier and smooth. Try the new MotorTest.ino?

I also broke apart the block methoc into a check and a block. THe check is user level, so they can use it to check if the motors are done.

I also changed the print statements to use the ESP log framework, with different prints at different log levels. If you set it to verbose you get all the interpolation blocking prints. If the prints arent enabled, then the compiler removes them entirely for fast execution and low memory footprint.

I would call this fixed, but you should test on yours before closing.

[gcl8a]

I haven't looked at your solution, yet, but moveFor( is blocking and startMoveFor() non-blocking.

Last I checked, moveTo() was non-blocking. For completeness, we should have a pair of functions, moveTo() and startMoveTo(), which should be blocking and non-blocking, respectively. I'd assume you could just use the same waitTilMotionIsDone() or whatever that function is.