Made changes reflecting PR comments.

Added torque_ramp_rate to controller config.
Changed INPUT_MODE_CURRENT_RAMP to INPUT_MODE_TORQUE_RAMP for controller input mode enum.
Torque limits and current limits are now observed seperately. Torque limit is in the controller, current limit is in the motor object.
Fixed torque -> current calculation in motor_update to handle ACIM motors.

Firmware/MotorControl/controller.hpp

@@ -28,7 +28,7 @@ public:
         float vel_limit = 20000.0f;                     // [counts/s] Infinity to disable.
         float vel_limit_tolerance = 1.2f;               // ratio to vel_lim. Infinity to disable.
         float vel_ramp_rate = 10000.0f;                 // [(counts/s) / s]
-        float current_ramp_rate = 1.0f;                 // A / sec
+        float torque_ramp_rate = 0.1f;                  // Nm / sec
         bool setpoints_in_cpr = false;
         float inertia = 0.0f;                           // [A/(count/s^2)]
         float input_filter_bandwidth = 2.0f;            // [1/s]