getting everything into int32 or sfix32

I ended up getting almost everything into double in pid_current_control_5, however from looking at the examples, I think i really should have everything in int32 or sfix32

having everything in 32 bit ended up using too much memory.

Now everthing is at int16 except for the original "from memory" blocks that read the registers for the current sense and the external memory for the hall effect. The controller also needs sfix(32) so there needs to be a conversion before and after that.