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Extract MainControl sub-trait from SharedComm (#27)

* Extract MainControl sub-trait from SharedComm

Third step of SharedComm decomposition: extract 23 main→ISR control
methods into a dedicated MainControl trait:

- adjusted_input, duty_cycle_setpoint (throttle mapping output)
- stall_protection_adjust, current_limit_adjust (PID outputs)
- prop_brake_active (brake mode)
- tim1_arr, duty_maximum (PWM config)
- filter_level, min_bemf_counts, auto_advance (BEMF tuning)
- set_actual_current, set_battery_voltage, set_degrees_celsius (EDT)

SharedComm: MotorState + IsrTiming + MainControl, now down to ~15
methods (input detection, protocol flags, one-shot commands).

* Use fully-qualified SharedState:: syntax, move battery_voltage to MainControl

Normalize all SharedState trait impls to use SharedState::method(self)
form consistently, avoiding potential ambiguity with trait method
resolution.

Move battery_voltage getter from SharedComm to MainControl where it
belongs — it's main-produced measurement data consumed by ISR for EDT.

8 of 97 new or added lines in 3 files covered. (8.25%)

3340 of 5482 relevant lines covered (60.93%)

624.14 hits per line