feat: Add TMotor servo mode actuator with native CAN protocol support

docs/tutorials/actuators/tmotor_servo_setup.md

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+# TMotor Servo Mode Setup Guide
+
+## Prerequisites
+
+Before using TMotor actuators in servo mode, you need to configure the CAN interface on your system.
+
+## CAN Interface Configuration
+
+### Initial Setup
+
+Run the following commands to configure the CAN interface for TMotor servo mode:
+
+```bash
+# Bring down the CAN interface
+sudo /sbin/ip link set can0 down
+
+# Configure CAN interface with 1MHz bitrate
+sudo /sbin/ip link set can0 up type can bitrate 1000000
+```
+
+### Verification
+
+To verify that the CAN interface is properly configured:
+
+```bash
+# Check CAN interface status
+ip link show can0
+
+# Monitor CAN traffic (optional)
+candump can0
+```
+
+## Motor Configuration
+
+### Supported Motors
+
+- **AK80-9**:
+  - Torque constant (Kt): 0.095 Nm/A
+  - Gear ratio: 9:1
+  - Pole pairs: 21
+
+- **AK10-9**:
+  - Torque constant (Kt): 0.206 Nm/A
+  - Gear ratio: 9:1
+  - Pole pairs: 21
+
+### Control Modes
+
+The TMotor servo mode supports the following control modes:
+
+1. **Position Control** (Mode 4): Control motor position in degrees
+2. **Velocity Control** (Mode 3): Control motor velocity in ERPM
+3. **Current Control** (Mode 1): Control motor current in Amps
+4. **Idle Mode** (Mode 7): Motor idle state
+
+## Usage Example
+
+```python
+from opensourceleg.actuators.tmotor import TMotorServoActuator
+
+# Initialize motor
+motor = TMotorServoActuator(
+    motor_id=104, #the default CAN ID is 104
+    gear_ratio=9.0,
+    motor_type="AK80-9"
+)
+
+# Start motor
+motor.start()
+
+# Home the motor
+motor.home()
+
+# Set control mode
+motor.set_control_mode(mode=CONTROL_MODES.POSITION)
+
+# Command position
+motor.set_motor_position(position_rad=1.57)  # 90 degrees
+
+# Stop motor
+motor.stop()
+```
+
+## Troubleshooting
+
+### CAN Bus Initialization Failed
+
+If you encounter a "CAN bus initialization failed" error:
+
+1. Ensure the CAN interface is properly configured (see CAN Interface Configuration above)
+2. Check that you have the necessary permissions (may require sudo)
+3. Verify the CAN hardware is connected
+4. Check for conflicting CAN bus processes
+
+### Permission Denied
+
+If you get permission errors when configuring the CAN interface:
+
+```bash
+# Add your user to the dialout group
+sudo usermod -a -G dialout $USER
+
+# Logout and login again for changes to take effect
+```
+
+### CAN Interface Not Found
+
+If `can0` is not found:
+
+1. Check if CAN drivers are loaded:
+   ```bash
+   lsmod | grep can
+   ```
+
+2. Load CAN drivers if needed:
+   ```bash
+   sudo modprobe can
+   sudo modprobe can_raw
+   sudo modprobe vcan  # For virtual CAN (testing)
+   ```
+
+## Notes
+
+- The CAN interface configuration must be done before initializing the TMotorServoActuator
+- The interface configuration is not persistent across reboots
+- For production use, consider adding the configuration to system startup scripts
+- Always ensure proper grounding and shielding for CAN communication
+- Unlike some motors, in this type the current reading only becomes negative when the velocity and torque directions are opposite.