Adding utils (motor,diag, and more). #6

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Levercpu wants to merge 2 commits intomainfrom

RT_Added_Diags+Motor_Utils_LS_FIX

Commits on Jan 17, 2026

Added diags and motor utils from 2025. THis still needs to be worked on: there are still errors that we don't know exactly how to solve
RoRoBout212
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Commits on Jan 18, 2026

it builds i geuss
Levercpu
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