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/src/config.h

@@ -0,0 +1,25 @@
+#pragma once
+
+//############## CONFIG STEPPERS ################
+#define DIR_PIN_A   16
+#define DIR_PIN_B   26
+#define PULSE_PIN_A 17
+#define PULSE_PIN_B 27
+
+#define SM_A 0
+#define SM_B 1
+
+#define PULSE_PER_REV (1 / 3200.0)
+//###############################################
+
+//================ CONFIG ENCODERS =====================
+#define ENCODER_RIGHT_PIN_A 12 // Lupio sam ove vrednosti
+#define ENCODER_RIGHT_PIN_B 13
+#define ENCODER_LEFT_PIN_A  6
+#define ENCODER_LEFT_PIN_B  7
+#define ENCODER_CPR         3840
+
+#define WHEEL_RADIUS     0.0279
+#define WHEEL_SEPARATION 0.31133
+#define TIMER_CYCLE_US   1000
+//======================================================