firmware

The original firmware for kbot has a few issues. Notably:

1. A lot of dynamic memory allocations in the hot path (e.g. .collect(), Box::new(), etc.)
2. Threads are spawned in a less controlled manner.

This rewrite aims to minimize dynamic memory allocations and stick to a single-threaded runtime for now. We can expand to a multithreaded one with more control

This is the first commit that is tested on the bot. Work is still pending.

Todo's

Short Term

• Let's make a development branch for nightly
• keyboard support
• Trait to auto impl streaming state machine
• handle faults from actuators in a more graceful manner
• merge files into small crates and change this repo into a single workspace

Medium Term

• setup instrumentation and tracing

Long Term

• Use zenoh for shared memory queues between processes