Timing Manager Tutorial

[Known4225]

This PR closes #100.

This Timing & Sensors tutorial expands upon the VSI tutorial and enables the ADC sensor to observe the effects of the timing manager. Users will learn how certain tuning parameters (mainly the User Event Ratio and the PWM frequency) can affect the loop time of their control tasks.

[codecubepi]

Hey @Known4225 , excellent start!

Please review my feedback with @elsevers .

[codecubepi]

A comment from @elsevers ... do we have the original SVG for this image somewhere? Likely a request for @npetersen2

[codecubepi]

Thanks for the first round of changes @Known4225 . Here are a few more things I caught.

[elsevers]

This is really coming together! See my inline edits below.

[elsevers]

More edits.

[elsevers]

Two things:

1. Write this as a deliberate step that a user should take (i.e., program your code onto the AMDC and measure the sensor acquisition timing using the newly created ctrl sensor timing command).
2. Move it down into the Sensor Timing subsection. I suggest that you start the Sensor Timing subsection by telling the user to do two things:
   1. Run ctrl sensor timing to obtain sensor acquisition timing information
   2. Run ctrl stats print to obtain run time and loop time

[Known4225]

Change requests per 12/19 meeting with @elsevers

1. Initial timing diagrams in Timing Manager Modes section

1. Add label for PWM carrier
2. Add multiple boxes for tasks. One of the boxes should be labeled control task (the rest are labeled task 1, task 2, ..., and are blue)

2. Update Construct system timing diagram diagram

1. move the control task to the right and add text annotation showing it as 20.805 us
2. Fix sensor collection time
3. TASK_UPDATES_PER_SEC --> TASK_CONTROLLER_UPDATES_PER_SEC
4. Update PWM Frequency, Sensor collection time, and the Timing Manager event ratio to match the inequalities.
5. Show the control task box in the same manner as you are showing it in the previous timing diagram, but do not show the blue task boxes
   

3. Edit inequality 3

RHS should be Total Task Run Time + Sensor Sample Acquisition Time

[elsevers]

@Known4225, I have made edits to the tutorial in #123. Let's get these merged in and then have you address this feedback. We're getting close!

[elsevers]

Looks great! let's get this merged.