feat: Reorganise files to improve readability#4
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This commit only merges the code from the version with the motor in the previous version. This aims to improve readability and tracking of changes in the code. The work was done by BrendanSig. Co-authored-by: BrendanSig <BrendanSig@users.noreply.github.com>
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All ongoing work on acoustics is separated in this PR to avoid confusion.