[Servo Motor][DJI M2006][WIP] implement the interface to control DJI M2006 via spinal

[tongtybj]

What is this

Implement the conection with DJI M2006 (C610 Speed Controller) via CAN protocol.
https://store.dji.com/jp/product/rm-m2006-p36-brushless-motor?vid=40031

Details

• Enable to poll the status from single motor
• Enable to send current command to single motor
• Enable to send command from three modes: 1) position mode / 2) velocity mode/ 3) direct torque(current) mode

TODO

If there is still some work to do. Plase list up as follows:

• compatiblity with spinal-neuron system
• implement PID control loop for position/velocity control mode
• improve the trackability of PID control (modification of each gains, saturation for I terms)
• solve the unobservable problem of the output angle (external encoder)
• enable to connect with multiple motor