* Added bldc_haptics component which templates on a motor concept (works with bldc_motor right now) - copied with modifications from smartknob as initial implementation.
* Added bldc_haptics_example to showcase new component.

* Updated PID config api to allow user to specify whether they want to clear the state or not (default true)
* Added `set_config` api to mirror `get_config`

* Updated docs to include bldc haptics info
* Updated bldc_haptics comments for more complete docs and remove unused code
* Updated bldc_motor to point to example usage (was missing)

* Added fault pin (optional) to bldc_driver as an input with associated API
* Added mutex to protect en / fault pins (and check values before setting enable)

* Update bldc_motor example to use config for tinyS3 test stand (works!)
* Update bldc_motor example to quit if the driver reports a fault
* Update bldc_driver to configure the fault pin as pull-down (since fault is high) to prevent always triggering fault condition

* Update bldc_haptics example to use fault pin on motor driver and exit if the driver goes into fault condition

* Allow the kp/kd factors to be configured in the BldcHaptics::Config struct
* Fix potential bug from smartknob project where min/max (lower/upper) kd factors were inverted

* Moved non-templated types into their own header files (now inside espp::detail namespace) and updated example accordingly

* Allow configuring the pid gain factors for detents of BldcHaptics
* Update to use new espp::detail namespace for types in BldcMotor
* Set motor to Torque control in BldcHaptics
* Add motion control config api to concept requirement in BldcHaptics
* Tuning the gain factors for the detent pid
* Added another detent config (on/off)
* Updated return to center detent config to have position width properly set

* Added missing parameter documentation to rtsp method

* Added missing parameter documentation
* Send multiline response as multiline response (multiline=true) for FEAT

* Updated example to better indicate what config it is running (print it out completely)
* Updated detent config to support libfmt printing
* Added equality operator for detentconfig
* Removed integrator for detent pid and increased output min/max
* Updated gains for feeling of detents

* Remove integrator from detent PID
* Add example for playing haptics to doc
* Add API for getting current position from the haptics (for input)

* Update pid config for haptics
* Shorten example
* Run the haptic click / buzz test and add it to docs

* Run the loop_foc after calling the move command, instead of after the sleep like a dumbass.
* Update logger to print higher precision

* Add phase inductance parameter to bldc_motor (not tested)
* Update bldc_motor example to use motor for printing sensor data
* Update bldc_motor example to have proper zero electrical angle for motor on new test stand.
* Update bldc_motor example for less clamping

* updated haptics example to have correct zero electrical offset for this motor on this test stand
* updated haptics example to have higher current limit
* Updated to show more of the possible preconfigured detent configs and print them more cleanly
* Updated bldc_haptics output min/max to be same as velocity pid was since they both operate on current
* Updated logging for bldc_haptics
* Updated how position is updated when changing detent configuration
* Updated use of kd_factor_min/max to match how smartknob did it
* Properly send the torque to the motor (not the negative torque)
* Updated libfmt printing of DetentConfig structs

* Update gains in example
* Update default gains