feat: add dual BTS7960 motor driver support

- Refactor MotorController to parameterized class with MotorPins struct
- Add motor1 and motor2 instances with shared enable pins (GPIO 14, 27)
- Motor 2 uses GPIO 32/33 for PWM, GPIO 36/39 for current sense
- Update web UI with side-by-side dual motor control panels
- Add per-motor API endpoints (/motor1/*, /motor2/*)
- Add emergency stop button for both motors
- Legacy endpoints map to motor1 for backwards compatibility
- Update readme and AGENTS.md documentation

include/config.h

@@ -11,22 +11,51 @@
 #define SUBNET IPAddress(255, 255, 255, 0)
 #define DNS IPAddress(10, 81, 2, 1)
 
-// BTS7960 Pin Definitions
-#define L_EN_PIN 14    // Left Enable
-#define LPWM_PIN 26    // Left PWM (Reverse)
-#define L_IS_PIN 35    // Left Current Sense (ADC input only)
+// Shared Enable Pins (both drivers share these)
+#define R_EN_PIN 27    // Right Enable (shared)
+#define L_EN_PIN 14    // Left Enable (shared)
 
-#define R_EN_PIN 27    // Right Enable
-#define RPWM_PIN 25    // Right PWM (Forward)
-#define R_IS_PIN 34    // Right Current Sense (ADC input only)
+// Motor 1 BTS7960 Pin Definitions
+#define RPWM1_PIN 25    // Right PWM Motor 1 (Forward)
+#define LPWM1_PIN 26    // Left PWM Motor 1 (Reverse)
+#define R_IS1_PIN 34    // Right Current Sense Motor 1 (ADC input only)
+#define L_IS1_PIN 35    // Left Current Sense Motor 1 (ADC input only)
+
+// Motor 2 BTS7960 Pin Definitions
+#define RPWM2_PIN 32    // Right PWM Motor 2 (Forward)
+#define LPWM2_PIN 33    // Left PWM Motor 2 (Reverse)
+#define R_IS2_PIN 36    // Right Current Sense Motor 2 (ADC input only - VP)
+#define L_IS2_PIN 39    // Left Current Sense Motor 2 (ADC input only - VN)
 
 // 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
+#define PWM_CHANNEL_R1 0    // LEDC channel for Motor 1 RPWM
+#define PWM_CHANNEL_L1 1    // LEDC channel for Motor 1 LPWM
+#define PWM_CHANNEL_R2 2    // LEDC channel for Motor 2 RPWM
+#define PWM_CHANNEL_L2 3    // LEDC channel for Motor 2 LPWM
 #define MIN_PWM_PERCENT 20  // Minimum PWM when motor is running (%)
 
+// Motor pin configuration structure
+struct MotorPins {
+    uint8_t rpwm;           // Right PWM pin (forward)
+    uint8_t lpwm;           // Left PWM pin (reverse)
+    uint8_t r_is;           // Right current sense pin
+    uint8_t l_is;           // Left current sense pin
+    uint8_t pwm_channel_r;  // LEDC PWM channel for right
+    uint8_t pwm_channel_l;  // LEDC PWM channel for left
+};
+
+// Motor 1 pin configuration
+const MotorPins MOTOR1_PINS = {
+    RPWM1_PIN, LPWM1_PIN, R_IS1_PIN, L_IS1_PIN, PWM_CHANNEL_R1, PWM_CHANNEL_L1
+};
+
+// Motor 2 pin configuration
+const MotorPins MOTOR2_PINS = {
+    RPWM2_PIN, LPWM2_PIN, R_IS2_PIN, L_IS2_PIN, PWM_CHANNEL_R2, PWM_CHANNEL_L2
+};
+
 // Current Sense Configuration
 // BTS7960 current sense ratio: 8500:1 (kilo-amps)
 // With 1kΩ resistor on IS pin: V = I_motor / 8500

include/motor.h

@@ -9,6 +9,9 @@ typedef void (*StallCallback)();
 
 class MotorController {
 public:
+    // Constructor with pin configuration and motor name
+    MotorController(const MotorPins& pins, const char* name);
+    
     void begin();
     void setSpeed(int speed);        // 0-100 percentage
     void setDirection(int dir);      // -1=reverse, 0=stop, 1=forward
@@ -20,6 +23,7 @@ public:
     float getCurrentRight();         // Current in amps (forward direction)
     float getCurrentLeft();          // Current in amps (reverse direction)
     float getCurrentActive();        // Current from active direction
+    const char* getName();           // Get motor name for logging
     
     // Stall detection
     bool isStalled();
@@ -27,6 +31,9 @@ public:
     void resetStallDetection();
     
 private:
+    MotorPins _pins;
+    const char* _name;
+    
     int _speed = 0;
     int _direction = 0;
     float _currentRight = 0;
@@ -42,12 +49,20 @@ private:
     StallCallback _stallCallback = nullptr;
     unsigned long _lastDirectionChangeTime = 0;
     
+    // Static flag to track if enable pins are already configured
+    static bool _enablePinsConfigured;
+    
     void applyMotorState();
     float readCurrentSense(int pin);
     void calibrateCurrentOffset();
     void checkStall();
 };
 
-extern MotorController motor;
+// Two motor controller instances
+extern MotorController motor1;
+extern MotorController motor2;
+
+// Legacy alias for backwards compatibility
+#define motor motor1
 
 #endif