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Avoid hard-coding of frame shifts

Owen Arnold requested to merge calculate_relative_frame_shifts into master

Current implementation hard-coded (almost) for chopper setup at V20, frame shifts should be easy to calculate.

WIP Do not merge. Details still being verified with Robin. TODO:

  1. Calculate origin of -6630 delay
  2. Verify calculations with Robin
  3. Remove V20 chopper settings from core processor (put elsewhere)
  4. Update examples and documentation

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