feat: add direction flag to feedforward controller with init config struct

- add DM_Feedforward_Init_Config_s with Kp and dir fields
- replace plain DM_Feedforward_Kp in DM_Motor_Init_Config_s
- apply direction flag in DMMotorControl to negate feedforward when reverse
- set yaw feedforward: Kp=0.9, dir=REVERSE

modules/motor/DMmotor/dmmotor.h

@@ -56,6 +56,7 @@ typedef struct
 
 typedef struct{
     float Kp;
+    Output_Reverse_Flag_e dir;
     float feed_input;
 } DM_Feedforward_Controller_s;
 
@@ -76,12 +77,19 @@ typedef struct
 
 } DMMotorInstance;
 
+/* Feedforward controller init config */
+typedef struct
+{
+    float Kp;
+    Output_Reverse_Flag_e dir;
+} DM_Feedforward_Init_Config_s;
+
 /* DM motor init config */
 typedef struct
 {
     Motor_Init_Config_s motor_config;   // generic motor PID and setting config
     DM_Motor_Ctrl_Mode_e ctrl_mode;          // default control mode
-    float DM_Feedforward_Kp;
+    DM_Feedforward_Init_Config_s feedforward_config;
     float mit_kp;                       // MIT mode KP (only for MIT mode)
     float mit_kd;                       // MIT mode KD (only for MIT mode)
 } DM_Motor_Init_Config_s;