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/control.h

@@ -1,21 +1,18 @@
 #ifndef CONTROL_H
 #define CONTROL_H
 
-#include <unistd.h>
-
 #include "MotorController.h"
-#include "global.h"
-#include "serial.h"
+#include "GPIO.h"
 
+// ── 电机控制接口 ──
 void ControlInit();
 void ControlUpdate(double speed, bool zebra_block);
 void ControlExit();
 
-extern double mortor_kp;
-extern double mortor_ki;
-extern double mortor_kd;
-
-extern GPIO mortorEN;
+// 左右电机对象（control.cpp 分配）
 extern MotorController *motorController[2];
 
+// 电机使能 GPIO (73)
+extern GPIO mortorEN;
+
 #endif