HRI board firmware v2.1 Microcontroller firmware of the board used during the HRI labs.

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- tim10InitFunc() : callback_timers.c
- TIM1_UP_TIM10_IRQHandler() : callback_timers.c
- tim5InitFunc() : incr_encoder.c
- tim67InitFunc() : callback_timers.c
- TIM6_DAC_IRQHandler() : callback_timers.c
- TIM7_IRQHandler() : callback_timers.c
- torq_Init() : torque_regulator.h , torque_regulator.c
- torq_RegulateCurrent() : torque_regulator.c
- torq_SetTorque() : torque_regulator.h , torque_regulator.c
- torq_StartCurrentLoop() : torque_regulator.h , torque_regulator.c