Merge pull request #314 from Copper280z/FEAT_velocity_feadforward #909

Job	Run time
Test compiling (arduino:avr:uno)	2m 3s
Test compiling (arduino:sam:arduino_due_x)	38s
Test compiling (arduino:avr:mega)	29s
Test compiling (arduino:avr:leonardo)	22s
Test compiling (arduino:samd:nano_33_iot)	51s
Test compiling (adafruit:samd:adafruit_metro_m4)	1m 30s
Test compiling (esp32:esp32:esp32doit-devkit-v1)	1m 18s
Test compiling (esp32:esp32:esp32s2)	1m 37s
Test compiling (esp32:esp32:esp32s3)	1m 7s
Test compiling (STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8)	2m 39s
Test compiling (STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE)	5m 13s
Test compiling (STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX)	2m 34s
Test compiling (STMicroelectronics:stm32:GenL4:pnum=GENERIC_L475RGTX)	6m 12s
Test compiling (STMicroelectronics:stm32:Disco:pnum=B_G431B_ESC1)	1m 11s
Test compiling (arduino:mbed_rp2040:pico)	59s
	28m 43s

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