Create C/C++ implementation of Simulink controller

[JuanR-Git]

The goal of this task is to integrate our Simulink control system logic into C/C++.

This task will involve us closely working with the motor, sensor, and AI teams to integrate our solution with their APIs.

The C code can be written using Simulink packages such as Simulink Coder. These packages will create functions for our Simulink blocks which we will then manually update with the proper variables names, API calls, and comments to align with the other modules.

Starting Point for State Implementation

• C++ Polymorphic Finite State Machine
• Implementing a Finite State Machine in C++

Starting Point for Controls

• Simulink Coder

Once the C++ code is written we will develop a testing strategy to validate our code and it's performance against our Simulink model.

By the end of this task our C/C++ code should meet the following requirements:

• Properly performs control systems tasks as per our Simulink model
• Properly calls motor, sensor and AI team APIs
• Adheres to our variable naming convention
• Contains clear and concise comments for maintainability
• Has test cases to validate effectiveness

Ensure design is documented in the Milestone 2 Doc with the corresponding justifications, design considerations and research,

[JuanR-Git]

Ali created a template for the c++ implementation of the general controller which can be found here: https://github.com/McMasterExoskeleton/Exoskeleton-Embedded/tree/control_systems/control/FSM_general_controller

TODO:
Determine max/min sensor readings for knee joint
Implement our specific conditions for idle, error and active states
implement chrono timer or another C library for idle state transitions involving elapsed time