Add firmware code to repo (#8)

* Added primary stepper motor driver code to repo
* Added odometery encoder code to repo
* Added the ability to update encoder wheel ratio via ros service
Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>

firmware/base/CMakeLists.txt

@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 3.12)
+
+set(PICO_BOARD pico CACHE STRING "Board type")
+set(TOP ${PICO_TINYUSB_PATH})
+include(pico_sdk_import.cmake)    
+
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+project(wheelbase C CXX ASM)
+
+pico_sdk_init()
+
+
+add_executable(wheelbase
+    src/quadrature.c
+    src/main.c 
+    src/stepper.c
+    tusb/tusb_descriptors.c
+    )
+
+pico_set_program_name(wheelbase "wheelbase")
+pico_set_program_version(wheelbase "0.1")
+
+pico_enable_stdio_uart(wheelbase 0)
+pico_enable_stdio_usb(wheelbase 1)
+
+pico_generate_pio_header(wheelbase ${CMAKE_CURRENT_LIST_DIR}/pio/quadrature.pio)
+pico_generate_pio_header(wheelbase ${CMAKE_CURRENT_LIST_DIR}/pio/blink.pio)
+
+target_link_libraries(wheelbase
+    pico_stdlib
+    pico_stdio
+    pico_time
+    pico_multicore
+    hardware_pio
+    hardware_clocks
+    hardware_gpio
+    hardware_sync
+    tinyusb_board
+    tinyusb_device)
+
+target_include_directories(wheelbase PRIVATE
+  ${CMAKE_CURRENT_LIST_DIR}
+  src/
+  tusb/
+)
+
+pico_add_extra_outputs(wheelbase)