Added Gui (unfinished)

config into dataclass and enums
new Gui that includes settings
deleted GlobalVariables

small fixes (import, names...)

config.py

@@ -1,31 +1,47 @@
-# Connection
-port = "COM4"
-baudrate = 38400
+"""
+config.py - Central Configuration & Parameters for JackBot
+"""
+from dataclasses import dataclass, field
+from enum import Enum
 
-esp32_ip = "192.168.188.32"
-esp32_port = 3323
 
-timeout = 2.0
+class BackendType(Enum):
+    SIMULATION = "sim"
+    ESP32 = "esp32"
+    ARDUINO = "arduino"
 
-sim: bool = True
-arduinoConnection: bool = False
-urdf_path = "JackBotUrdf.urdf"
 
-# row = legnumber (left 0,1,2 right 3,4,5)
-# column = servo position from torso(0) to feet(2)
+@dataclass
+class RobotConfig:
+    # -------------------------------------------------------------------------
+    # 1. Execution & Backend Target
+    # -------------------------------------------------------------------------
+    backend: BackendType = BackendType.SIMULATION
+    urdf_path: str = "JackBotUrdf.urdf"
 
-# Dimensions in m
-#robot_height = -0.1
-step_height = 0.03
-step_length = 0.04
-translation_gain = 1.0
-rotation_gain = 2.0
-# Leglength in m
-# L1 = 0.068
-# L2 = 0.0602
-# L3 = 0.070
+    # Hardware Connection Settings
+    port: str = "COM4"                  # Serial Port for Arduino
+    baudrate: int = 38400               # Baudrate for Serial
+    esp32_ip: str = "192.168.188.32"   # Wi-Fi IP for ESP32 UDP communication
+    esp32_port: int = 3323              # UDP Target Port
+    comm_timeout: float = 2.0           # Connection timeout threshold [s]
 
-# standard_tickpersec = # 20 Fluessige Bewegung
-standard_tickpersec:float = 25 # [ticks/s]
-standard_duration:float = 0.8  # [s]
-standard_tickduration:float = 1 / standard_tickpersec
+    # -------------------------------------------------------------------------
+    # 2. Gait & Motion Kinematics Parameters
+    # -------------------------------------------------------------------------
+    step_height: float = 0.05          # Clearance height of foot swing [m]
+    step_length: float = 0.08          # Maximum stride distance [m]
+    translation_gain: float = 1.0      # Speed multiplier for directional translation
+    rotation_gain: float = 4.0         # Speed multiplier for yaw rotation
+
+    # Timing & Execution Frequency
+    tick_rate_hz: float = 25.0         # Motion loop execution rate [ticks/sec]
+    step_duration: float = 0.8         # Time to complete full gait stride [s]
+
+    @property
+    def tick_duration(self) -> float:
+        return 1.0 / self.tick_rate_hz
+
+
+# Global Active Instance
+cfg = RobotConfig()