Add complementary PWM driving

[joe-spall]

Based off of https://www.youtube.com/watch?v=QgcAJpRFj1U, we could do what is described as complementary PWM driving. This means we wouldn't just step with the next phase and would instead of intermediary phases in our six step that eases the transitions between them. This should lead to more accurate current sensing and more efficient driving.

NOTE: FOC would make this not needed so maybe not

[guyfleeman]

We a def doing complimentary, but I'm not sure about the intermediate steps are? If that's double PWM (distinct duty cycle) modulated, thats basically FoC