[HARP] PLL and kernel time!

Today we worked as a team on the PLL using the kernel time (nanoseconds). With the IR receiver we can measure the duration of a rotation and adapt the frame duration. It’s almost working except for a miscalculation on unsigned long. We’ll fix it tomorrow! One good news : the motor is very precise so we won’t need to adapt it while running the program.
See u la’er aliga’or

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