Merge test branch into production M2

[IshDeshpa]

Quality Assurance Checklist

To make reviews more efficient, please make sure the software feature meets the following standards and check everything off that meets the quality check. Once everything has been checked, the assigned reviewers will begin the review process. Edit this description to check off the list.

There are exceptions with all guidelines. As long as your decisions are justified, then you are good! Contact the reviewers or the leads about any exceptions.

Requirements

• Followed Coding Style Guide
• Presented/discussed in some capacity with others on the Controls team
• Code Build checks pass
• No merge conflicts
• Software feature has documentation for it updated in both ReadTheDocs and the comments
• Software feature has documentation for it updated
• Testing
  • Software feature has test associated with it
  • Test provides useful information and uses relevant data to accurately represent Controls
  • Tested on hardware
  • NOTE: If test file already exists, use that one
• If applicable, have you added the new feature to main.c?
• Tagged appropriate issue ticket on this PR
• Did you have fun?

Things to Consider

• Even if the above are checked, is this the best way of writing my code?
  • It's possible to write code that works, but are there ways to make code more efficient?