refactor: structure pico project

pico/lib/Stepper/Stepper.h

@@ -0,0 +1,22 @@
+#pragma once
+class Stepper {
+protected:
+    int steps_per_rev;
+    virtual void step(int steps, bool direction) = 0;
+    
+public:
+    void step_rev(double revs, bool direction){
+        if(revs == 0.0) return;
+        if(revs < 0.0){
+            direction = !direction;
+            revs = -revs;
+        }
+
+        long total_steps = (long)(revs * steps_per_rev + 0.5);
+        if(total_steps <= 0) return;
+        
+        step((int)total_steps, direction);
+    }
+
+    virtual ~Stepper() {}
+};