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Add a MotionControlMode::angle_nocascade which uses a single PID for angle control #384

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As discussed here: https://community.simplefoc.com/t/motor-oscillates-when-in-cascaded-position-velocity-control-loop/4194

I've tested this and it works quite nicely. I imagine some people might find it useful.

@runger1101001 runger1101001 added the enhancement New feature or request label Feb 18, 2024
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