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FIR module restructuring (rebased for master)

Madeline Wade requested to merge madeline-wade/pydarm:fir-module-restructuring-for-master into master

This merge requests supersedes !217 (closed). It incorporates the same updates as noted in !217 (closed) but is cleanly rebased against the master branch.

Implements some changes requested by #153 (closed)

Edited by Evan Goetz

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