kaidokert / rm32 / 25207070949

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Move voltage_based_ramp from TickCounters to MotorContext (#31)

* Move voltage_based_ramp from TickCounters to MotorContext

voltage_based_ramp is a board constant (from BoardConfig YAML), not a
counter. It was being copied from IsrState → TickCounters every ISR
entry despite never changing.

Move to MotorContext where it's set once at construction from the
board constant. Remove from TickCounters.

* Add unit tests for voltage-based ramp path

The voltage_based_ramp=true path had zero test coverage. Add 3 tests:
- Low battery (800mV) → high max_change (10)
- High battery (2200mV) → low max_change (1)
- Fast commutation (ci<=200) → 3x multiplier applied

17 of 18 new or added lines in 3 files covered. (94.44%)

3567 of 5667 relevant lines covered (62.94%)

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