Implementation of chassis output

[SiChiTong]

Hi Joseph

It is great that reading your implementation of the kappa framework with usage at actual competitions. I benefits a lot from your works.
Would you be pleased that let me know about your implementation for the control singal (cmd) conversion to actual chassis output(motors), that means different "getOutput()" function for different model:

std::shared_ptr<AbstractOutput<std::array<double,4>>> getOutput() const;

Many thanks for your sharing and really appreicated your works