Refactor configuration management by introducing CustomConfig class. Updated config.hpp to streamline settings and removed legacy configuration presets. Adjusted controller and custom_robot classes to utilize the new configuration structure. Enhanced error handling and logging during initialization processes.

src/main.cpp

@@ -23,7 +23,7 @@ int main(int argc, char** argv) {
     signal(SIGTERM, signalHandler);
     
     try {
-        g_robot = std::make_unique<CustomRobot>("");
+        g_robot = std::make_unique<CustomRobot>();
         
         if (!g_robot->initialize()) {
             LOG_ERROR("Failed to initialize robot");