清理编码器+死代码+可读性整理: 删除ENCODER类(含UB析构), MotorController简化为PWM+GPIO裸控制器, 移除mortor_kp/ki/kd全局变量, 排除vl53l0x/zebra_detect死代码, 修复image_cv行列写反, 清理无关include

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>

lib/camera.h

@@ -17,20 +17,14 @@
 #include <thread>
 
 #include "image_cv.h"
-#include "PIDController.h"
-#include "PwmController.h"
 #include "global.h"
 #include "frame_buffer.h"
-#include "serial.h"
 #include "control.h"
 
 int CameraInit(uint8_t camera_id, double dest_fps, int width, int height);
 int CameraHandler(void);
 void cameraDeInit(void);
 
-extern double kp;
-extern double ki;
-extern double kd;
 extern double g_steer_deviation;
 
 #endif