Alignment of the application framework for the amcbldc and amc2c boards
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some minor and backward compatible changes were required to some embot objects / functions
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This PR adds an application framework which is shared by the
amcbldcand theamc2c, the second core of theamc.The framework starts a
thrCOMMthread which manages CAN communication and athrCTRLthread which runs the MBD motor control code.Tests have shown that the new
amcbldcapplication works as the legacy one, for which we still keep code and project.The application on the
amc2cruns the same framework. It is able to successfully run the CAN communication and to call the two user-defined functions,init()andtick(), of the control thread. These functions will soon be filled w/ MBD motor control code.The PR can be safely merged.