IPS - Multi-IPS-Instance Setup + Syncing

[Tmktahu]

One way we can achieve a ~0.2 second update time is to run multiple instances of IPS at the same time offset from each other. The code is compatible with itself, so you can already run several instances at once without problems.

But because line execution time is not perfectly 0.2 seconds, multiple instances will eventually become out of sync with each other. To handle this we want to try and add a line to the execution code that automatically syncs different IPS chips together after some time has passed.

Because this would add 0.2 seconds to update time, bringing us to 0.8 seconds. Because of that we want to make this multi-instance IPS version separate from the 1-chip version. In addition, it will need to run on 4 chips and the syncing logic will need to handle starting each chip on a different line to keep them offset from each other.

[Tmktahu]

#12 introduces IPSA which implements a new version of IPS that runs async. I'm going to close this ticket with the completion of IPSA and leave black-magic discussions for other places.