Make simulation take motor characteristics into account

[pvandervelde]

At the moment the simulation does not take into account motor characteristics and limitations. In the real world however motors do have limitations and behaviour characteristics that determine its output capabilities. Thus to make the simulation more realistic it should take these things into account.

Behaviours to account for could be:

• Maximum rotational velocity of the drive shaft
• Maximum rotational acceleration of the drive shaft
• The amount of torque the motor can deliver for a given rotational velocity
• The presence (or absence) of motor deadband
• The presence (or absence) of motor hysteresis
• Rotational velocity and acceleration behaviour with load applied to the drive shaft