implement ramp-ups and ramp-downs for motor

MotionCore/MainLoop.h

@@ -1,7 +1,24 @@
 #pragma once
+#include "OSerialBus.h"
+#include "Motor.h"
 
+// Singleton-class, use MainLoop::getInstance() to get the only instance of the runtime
 class MainLoop
 {
 public:
+	static MainLoop& getInstance();
+	MainLoop(const MainLoop& other) = delete;
+	MainLoop(MainLoop&& other) = delete;
+	~MainLoop() noexcept;
 	void run();
+
+private:
+	MainLoop() noexcept;
+
+	OSerialBus oSerialBus;
+	Motor j0;
+	Motor j1;
+	Motor j2;
+
+	bool isRunning = true;
 };