Added unified model mode

src/unifiedmodelmode.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <utility>
+
+#include <HardwareSerial.h>
+
+#include "bobbycar-protocol/protocol.h"
+
+namespace {
+enum class UnifiedModelMode
+{
+    Commutation,
+    Sinusodial,
+    FocVoltage,
+    FocSpeed,
+    FocTorque
+};
+
+std::pair<ControlType, ControlMode> split(UnifiedModelMode mode)
+{
+    switch (mode)
+    {
+    case UnifiedModelMode::Commutation: return std::make_pair(ControlType::Commutation, ControlMode::Voltage);
+    case UnifiedModelMode::Sinusodial: return std::make_pair(ControlType::Sinusoidal, ControlMode::Voltage);
+    case UnifiedModelMode::FocVoltage: return std::make_pair(ControlType::FieldOrientedControl, ControlMode::Voltage);
+    case UnifiedModelMode::FocSpeed: return std::make_pair(ControlType::FieldOrientedControl, ControlMode::Speed);
+    case UnifiedModelMode::FocTorque: return std::make_pair(ControlType::FieldOrientedControl, ControlMode::Torque);
+    }
+
+    Serial.printf("Unknown UnifiedModelMode: %i\r\n", int(mode));
+
+    return std::make_pair(ControlType::FieldOrientedControl, ControlMode::OpenMode);
+}
+}