Encoder and Microstep Modulus

[sjkelly]

e.g. for a 1000cpr encoder with 200 steps/rev and 64 microsteps we have 64 microsteps and 5 encoder ticks per full step then 12.8 microsteps per encoder tick.

We could possible handle a few ways:

• Microsteps become divisible by 10 e.g. 60 microsteps
• Use a lookup table for phasing increments e.g. {12, 13, 13, 13, 13} for the above example
• Compressed version of the above, in words "13 microsteps per tick, but every 4 ticks it is 12".

None of these seem satisfactory, hence an issue to noodle and get some comments.