feat: create RangedMotor base class

RangedMotor.hpp

@@ -0,0 +1,51 @@
+#pragma once
+
+// Abstract class
+class RangedMotor
+{
+public:
+    RangedMotor(
+        const float gearboxRatio,
+        const float scaleCalibration,
+        const float zeroOffset,
+        const float minSafeAngle,
+        const float maxSafeAngle
+    ) noexcept;
+
+    virtual bool moveTo(float target) noexcept;
+    virtual float getPosition() const noexcept;
+
+    float getGearboxRatio() const noexcept;
+    float getScaleCalibration() const noexcept;
+    float getZeroOffset() const noexcept;
+    float getSafeMinAngle() const noexcept;
+    float getSafeMaxAngle() const noexcept;
+    float getSafeHardwareMinAngle() const noexcept;
+    float getSafeHardwareMaxAngle() const noexcept;
+
+    void setGearboxRatio(float gearboxRatio) noexcept;
+    void setScaleCalibration(float scaleCalibration) noexcept;
+    void setZeroOffset(float zeroOffset) noexcept;
+    void setSafeMinAngle(float safeMinAngle) noexcept;
+    void setSafeMaxAngle(float safeMaxAngle) noexcept;
+    void setSafeHardwareMinAngle(float safeHardwareMinAngle) noexcept;
+    void setSafeHardwareMaxAngle(float safeHardwareMaxAngle) noexcept;
+
+
+    // Will translate virtual-space-angles to hardware-space-angles
+    float virtualAngleToHardwareAngle(float virtualAngle) const noexcept;
+    // Will translate hardware-space-angles to virtual-space-angles
+    float hardwareAngleToVirtualAngle(float hardwareAngle) const noexcept;
+
+protected:
+    // Calculates a command-space scale compensation factor.
+    // The returned value is multiplied with virtual angle so that
+    // the motors actual movement matches the intended movement.
+    static float calculateScaleCalibration(const float virtualRange, const float hardwareRange);
+
+    float gearboxRatio;      // Gearbox ratio
+    float scaleCalibration;  // Scale calibration
+    float zeroOffset;        // Zero offset calibration
+    float safeHardwareMinAngle; // Absolute hardware space minimum
+    float safeHardwareMaxAngle; // Absolute hardware space maximum
+};