refactor!: core architecture

[leon0399]

Goal

The purpose of this PR is to change core architecture, allowing painless changes to existing components (such as Connection/BLE stack, #23) and adding new components (such as Battery in #17)

Binary sized

Original size:

New size:

Comparison:

	Original	New
Ram	31416	31400
Flash	1005102	1004622

[leon0399]

I decoupled output writes themselves (e.g. activate closest motors to requested output, or interpolate between surrounding motors) and registering motors input, like auto and auto with margins (btw, auto with margins makes more sense IMO)
These output changes will simplify things for part of #6 issue - in-cloud on-demand firmware builder for WebSerial flash

Difference between `auto` and `auto with margins`

* - motor
= - empty space

Auto:

*=========*
*=========*
*=========*

Auto with margins:

===*===*===
===*===*===
===*===*===

But I'm not entirely sold on my solution now, cause:

1. We need to have 4 different options (Coordinates based on this: [WIP] [RFC]: OpenHaptics protocol #9):
   • both X and Y axes use auto
   • both X and Y axes use auto with margins
   • X uses auto and Y uses auto with margins
   • X uses auto with margins and Y uses auto
   • Something more custom:
     
2. For a more DRY approach, the same functions should be used for the make_point functions in all current bHaptics configs

As for now, 2nd requirement is partly achieved, but due to 1st is not met, it is not customizable at all

That is all because my vision for the future is entirely different from the current bHaptics BLE protocol allows:

• it is limited to 40 output points max
• because of DIY nature of project, other configurations must be achievable also (e.g. 32 vest, with only PCAs used, without ledc, x8 vest for very lightweight setups, etc)