Rework the Code wrapper

[luguenth]

Just basic Work done in #2 . Must be better implementated.

• [ ] Mocking Mode
• [x] beautify Code

[luguenth]

When converting this whole motor thing to a class pwms are not working anymore. I dont know the reason. Maybe we can test this some time

Here's the commit 0d6a65cb862af96011ee161532ad0943e6736353

[riher]

@lellebebbl please test again See 42f5346494558fc9538d83cf2b897eee7cb7edb7 for change. ;)