Release v0.3.0

New

• Default effort control instead of position control 🎉
• Custom exceptions with error codes documented on https://project-march.github.io/tutorials/doc/using_the_march_exoskeleton/error_codes.html
• Added reading incremental encoders and calculating more precise velocities using them
• Added coverage reports and tests

Fixes

• Refactored MarchHardwareInterface
• Fix control loop cycle time to always be a multiple of the ethercat cycle time
• Fix ethercat cycle by using std::chrono instead of boost::chrono and using std::atomic variables
• Stop ethercat as soon as motor controller fails