Created wacky_bully project + a bit of work towards implementing motor drivers

software/wacky_bully/components/drv8701/include/drv8701.h

@@ -0,0 +1,38 @@
+#ifndef DRV8701_H
+#define DRV8701_H
+
+#include "freertos/idf_additions.h"
+
+// Enable PWM for speed control
+// Phase chooses direction
+
+typedef struct {
+    uint8_t en_pin;
+    uint8_t ph_pin;
+
+    uint8_t pwm_group_num; 
+
+    // Do not populate, done as part of task creation
+    QueueHandle_t in_ctrl_queue;
+    SemaphoreHandle_t current_mutex; 
+
+} drv8701_task_config_t;
+
+
+/**
+ * @brief Launch the motor driver task
+ *
+ * @param motor_cfg The configuration for the motor driver
+ */
+void drv8701_task(void *args);
+
+/**
+ * @brief Set the velocity of a specific motor driver  
+ *
+ * @param motor_cfg The configuration for the specific motor driver
+ * @param velocity -1.0 to 1.0
+ */
+void set_motor_vel(drv8701_task_config_t *motor_cfg, float velocity);
+
+
+#endif