- Changed `monitor_speed` in `platformio.ini` from `115200` to `19200` for compatibility.
- Initialized `MotorControlInputs` struct members with default values.
- Uncommented digital write operations in `doMotor` for proper execution.
- Disabled debug output and monitoring configurations for cleaner operation.
- Adjusted motor tuning parameters by commenting out specific settings.
- Changed `Serial.begin(115200)` to `Serial.begin(19200)` in `setup()` to match the new monitor speed.
- Commented out `_delay(1000)` and `current_angle` variable to remove unnecessary delays and unused code.
- Introduced `MotorControlInputs` struct to centralize motor control state.
- Renamed `sensor` to `encoder` for clarity in naming conventions.
- Added `send_velocity`, `send_angle`, and `send_motor_enabled` functions for modular CAN message handling.
- Updated `setup_foc` to enhance motor initialization with configurable parameters.
- Replaced `run_foc` with `foc_step` for improved motor control logic:
- Dynamically switches between angle and velocity control based on inputs.
- Enhanced CAN message handling with `read_can_step` to process specific control commands.
- Adjusted current sensing and other configuration values for precision.
- Added placeholders for temperature sensor setup and handling.
