Robot control

[frey808]

Description

Connects fault detection and socket commands to motor controls. Limit switches and overcurrent alerts go through an event group managed by the signal_bus component, and socket commands use a struct of function callback pointers. Also implements a rough draft of polar pan start and stop that uses a single motor per axis, and a constant pan speed determined by the polar_pan_speed Kconfig variable.

Metrics

• PR Confidence value(1 ~ 5): 4

[rtyocum]

Can you resolve the merge conflicts?
Curious if that's why the CI didn't run

[rtyocum]

I made some small changes
Though I added a clang-format file and formatted all files to the spec (I copied the clang-format from operator)

There was different spacing even within the same file so that was bothering me

[rtyocum]

Few things, not all of which need to be done in our scope though.

1. Limit switches don't clear, even when I physically move the robot off the switch. I can't move after it hits a limit switch at all. Same happens with the current sensing.

2. Ideally, the limit switch should only block movement in one direction. Though homing is kinda needed for this, that way we can use encoders for end stops.

3. ADS cutoffs need to be dynamic based off actual current speed sampling (from encoders) because it will change dependent on speed.

4. Limit switches (especially on the base) aren't at the ends. The encoders must set ends based on homing.

I know this is the end of the semester, so do what you want/can. 1 is kinda essential as that is a bug, the other 3 we can put in future.md if we don't get there.