feat: add ESP32 BTS7960 motor controller with web interface

- Implement MotorController class with PWM speed control (0-100%)
- Add bidirectional control (forward/reverse) via LEDC PWM at 20kHz
- Include optional current sensing and stall detection
- Create responsive web UI with speed slider and direction buttons
- Configure WiFi with static IP (10.81.2.185)
- Use built-in WebServer library for ESP32 Arduino 3.x compatibility

include/config.h

@@ -0,0 +1,42 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+// WiFi Configuration
+#define WIFI_SSID "tami"
+#define WIFI_PASSWORD ""
+
+// Static IP Configuration
+#define STATIC_IP IPAddress(10, 81, 2, 185)
+#define GATEWAY IPAddress(10, 81, 2, 1)
+#define SUBNET IPAddress(255, 255, 255, 0)
+#define DNS IPAddress(10, 81, 2, 1)
+
+// BTS7960 Pin Definitions
+#define RPWM_PIN 25    // Right PWM (Forward)
+#define LPWM_PIN 26    // Left PWM (Reverse)
+#define R_EN_PIN 27    // Right Enable
+#define L_EN_PIN 14    // Left Enable
+#define R_IS_PIN 34    // Right Current Sense (ADC input only)
+#define L_IS_PIN 35    // Left Current Sense (ADC input only)
+
+// PWM Configuration
+#define PWM_FREQ 20000      // 20kHz - reduces motor noise
+#define PWM_RESOLUTION 8    // 8-bit resolution (0-255)
+#define PWM_CHANNEL_R 0     // LEDC channel for RPWM
+#define PWM_CHANNEL_L 1     // LEDC channel for LPWM
+
+// Current Sense Configuration
+// BTS7960 current sense ratio: 8500:1 (kilo-amps)
+// With 1kΩ resistor on IS pin: V = I_motor / 8500
+// ESP32 ADC: 12-bit (0-4095), 0-3.3V
+#define CURRENT_SENSE_RATIO 8500.0f   // Amps to sense current ratio
+#define SENSE_RESISTOR 1000.0f        // 1kΩ sense resistor (ohms)
+#define ADC_MAX 4095.0f               // 12-bit ADC max value
+#define ADC_VREF 3.3f                 // ADC reference voltage
+#define STALL_CURRENT_THRESHOLD 5.0f  // Current (amps) that indicates stall
+#define STALL_DETECT_TIME_MS 500      // Time to confirm stall (ms)
+
+// Web Server
+#define HTTP_PORT 80
+
+#endif

include/motor.h

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+#ifndef MOTOR_H
+#define MOTOR_H
+
+#include <Arduino.h>
+#include "config.h"
+
+class MotorController {
+public:
+    void begin();
+    void setSpeed(int speed);        // 0-100 percentage
+    void setDirection(int dir);      // -1=reverse, 0=stop, 1=forward
+    void stop();
+    void update();                   // Call in loop() for stall detection
+    
+    int getSpeed();
+    int getDirection();
+    float getCurrentRight();         // Current in amps (forward direction)
+    float getCurrentLeft();          // Current in amps (reverse direction)
+    float getCurrentActive();        // Current from active direction
+    bool isStalled();                // True if stall detected
+    
+    // Callback for stall events
+    void setStallCallback(void (*callback)(float current));
+
+private:
+    int _speed = 0;
+    int _direction = 0;
+    float _currentRight = 0;
+    float _currentLeft = 0;
+    bool _stalled = false;
+    unsigned long _stallStartTime = 0;
+    void (*_stallCallback)(float current) = nullptr;
+    
+    void applyMotorState();
+    float readCurrentSense(int pin);
+    void checkStall();
+};
+
+extern MotorController motor;
+
+#endif

include/webserver.h

@@ -0,0 +1,7 @@
+#ifndef WEBSERVER_H
+#define WEBSERVER_H
+
+void setupWebServer();
+void handleWebServer();
+
+#endif