Made a lot of changes to the general structure.
Applied object-orienting techniques to the code, cleaning it up considerably. Major design changes are as follows:
- All separate node code (ie motors) are meant to only interface with hardware - doing as little logic as possible.
- Instead, the logic is moved to a class (ie MotorControl) in libscout. PID and other tools should be located here. This significantly reduces dependencies.
- Files can be included cross-package by being placed in /include/packagename, but this should be avoided to reduce dependencies.
A few formatting changes:
- Comments should end with / always, not */
- Use @ instead of \
- No double newlines.
The motors node is revamped and pretty much correct at this point.