Read current speed and acceleration values from TechnosoftIpos device via CAN

[PeterBowman]

Currently, commanded speeds and accelerations get stored in their respective member fields, TechnosoftIpos::refSpeed and TechnosoftIpos::refAcceleration, upon each set-like function call (involving thread locks): example. It would be preferable to pull the current value from the driver instead of evaluating said fields: click/ref.

[PeterBowman]

Rebased on develop and WIP at b076348, now I have to apply #119/#144 and run some tests (again).

[PeterBowman]

Done at ef0fad9, tested on ASIBOT.

[PeterBowman]

Just for clarification, now we may pull from the driver:

• actual reference speeds and accelerations (position mode)
• current velocity (velocity mode)

Don't be scared when you'll see lots of decimals instead of fixed integers (e.g. 4.9999 instead of 5).

[jgvictores]

Great!

Thanks to this, I also reviewed the code and started #153.