Update the owntech_leg_driver to create a more generic leg driver
Context
Now that we have separated spin and twist, it seems necessary to create a more generic leg driver which the user can setup specifically for their power hardware.
Description
We should update the leg structure to include more information. This can be found in owntech_leg_driver.h
. Something like this:
static leg_conf_t leg_config[] = {
{
.hrtim = 0,
.timing_unit = TIMA,
.frequency = 200U,
.duty_cycle = 0.1,
.active_state = LEG_ACTIVE_HIGH,
.phase_ref_type = LEG_PHASE_MASTER,
.phase_shift = 0,
.rise_dead_time = LEG_DEFAULT_DT,
.fall_dead_time = LEG_DEFAULT_DT
},