libs/kaptan-actuator: add protocol-neutral motor policy

Signed-off-by: Onur Özkan <work@onurozkan.dev>

libs/kaptan-actuator/src/lib.rs

@@ -0,0 +1,19 @@
+//! Protocol-neutral motor-output policy.
+
+#![no_std]
+
+pub mod dshot;
+mod protocol;
+pub mod pwm;
+
+pub use protocol::{ArmingDuration, DshotConfig, MotorProtocol, PwmConfig};
+
+/// Flight-control and MAVLink boundary for motor outputs.
+pub trait MotorOutput {
+    /// Enables the configured armed output sequence.
+    fn arm(&mut self);
+    /// Stops output and returns all motor channels to their safe state.
+    fn disarm(&mut self);
+    /// Returns whether the output has accepted an arm request.
+    fn is_armed(&self) -> bool;
+}