Refactor control loop.

Please see https://github.com/madcowswe/ODrive/issues/472 for a detailed description.

Firmware/MotorControl/open_loop_controller.hpp

@@ -0,0 +1,32 @@
+#ifndef __OPEN_LOOP_CONTROLLER_HPP
+#define __OPEN_LOOP_CONTROLLER_HPP
+
+#include "component.hpp"
+#include <cmath>
+
+class OpenLoopController : public ComponentBase {
+public:
+    void update(uint32_t timestamp) final;
+
+    // Config
+    float max_current_ramp_ = INFINITY; // [A/s]
+    float max_voltage_ramp_ = INFINITY; // [V/s]
+    float max_phase_vel_ramp_ = INFINITY; // [rad/s^2]
+
+    // Inputs
+    float target_vel_ = NAN;
+    float target_current_ = NAN;
+    float target_voltage_ = NAN;
+
+    // State/Outputs
+    uint32_t timestamp_ = 0;
+    float Id_setpoint_ = NAN;
+    float Iq_setpoint_ = NAN;
+    float Vd_setpoint_ = NAN;
+    float Vq_setpoint_ = NAN;
+    float phase_ = NAN;
+    float phase_vel_ = NAN;
+    float total_distance_ = NAN;
+};
+
+#endif // __OPEN_LOOP_CONTROLLER_HPP