feat: Add generators module

[gpranav162]

Closes #432

[senthurayyappan]

Hi @gpranav162, can you please fix all mypy errors (which are mostly due to missing type annotations)?

[gpranav162]

Hi @senthurayyappan, I've fixed all the mypy errors. Please let me know if any further changes are needed!

[senthurayyappan]

Can we please move this CustomGenerator class to the signal_generators module?

[senthurayyappan]

can we follow the update(t: float) pattern?

We'd want SignalGenerators objects to be able to output values for a given value of time

[senthurayyappan]

Can we modify this class to generate a step function instead? The StepGenerator's step time can be set to zero to output a constant value if the user wants a constant output from a signal generator.

I think generating constants this way is less useful

[senthurayyappan]

Hey @gpranav162, great work! Can we modify the structure of signal generators to follow our update pattern so that they work well with other components? We want this module to be used for generating setpoints in the future. Here is an example use case (pseudo code):

from opensourceleg.actuators import DephyActpack
from opensourceleg.extras.generators import SineGenerator
from opensourceleg.utilities import SoftRealTimeLoop

if __name__ == "__main__":
    actpack = DephyActpack(...)
    sp = SineGenerator(...)
    clock = SoftRealTimeLoop(...)
    
    with actpack:
        actpack.set_control_mode(...)
        
        for t in clock:
            val = sp.update(t)
            actpack.set_motor_position(val)

[senthurayyappan]

We could also support pre-generating outputs and have an iter pattern with a __next__ method within the SignalGenerator class.

[gpranav162]

Hi @senthurayyappan, I've made the suggested changes:

1. Moved CustomGenerator class to the signal_generators module
2. Renamed ImpulseGenerator to StepGenerator (step_time set to zero outputs constant value) and removed the ConstantGenerator class
3. Refactored the base class to use the update(t) method instead of __call__
4. Added support for iteration over precomputed outputs with the __next__ method

Please let me know if there’s anything else you’d like me to update!