Revert " Remove cfg from encoded motor structure "

[randhid]

Reverts #2252

[github-actions]

Note: merge base coverage results not available, comparing against closest a17098b~1=(632f9e2) instead

Package	Line Rate	Delta	Health
go.viam.com/rdk/components/arm	63%	0.00%	➖
go.viam.com/rdk/components/arm/fake	29%	0.00%	❌
go.viam.com/rdk/components/arm/universalrobots	41%	0.00%	❌
go.viam.com/rdk/components/arm/wrapper	21%	0.00%	❌
go.viam.com/rdk/components/arm/xarm	23%	0.00%	❌
go.viam.com/rdk/components/arm/yahboom	6%	0.00%	❌
go.viam.com/rdk/components/audioinput	44%	0.00%	❌
go.viam.com/rdk/components/base	41%	0.00%	❌
go.viam.com/rdk/components/base/agilex	63%	0.00%	➖
go.viam.com/rdk/components/base/boat	40%	0.00%	❌
go.viam.com/rdk/components/base/fake	52%	0.00%	➖
go.viam.com/rdk/components/base/wheeled	75%	0.00%	✅
go.viam.com/rdk/components/board	60%	0.00%	➖
go.viam.com/rdk/components/board/fake	40%	0.00%	❌
go.viam.com/rdk/components/board/genericlinux	19%	0.00%	❌
go.viam.com/rdk/components/board/numato	19%	0.00%	❌
go.viam.com/rdk/components/board/pi	50%	0.00%	➖
go.viam.com/rdk/components/camera	57%	0.00%	➖
go.viam.com/rdk/components/camera/align	58%	0.00%	➖
go.viam.com/rdk/components/camera/fake	74%	0.00%	✅
go.viam.com/rdk/components/camera/ffmpeg	82%	0.00%	✅
go.viam.com/rdk/components/camera/rtsp	45%	-0.88%	❌
go.viam.com/rdk/components/camera/transformpipeline	77%	0.00%	✅
go.viam.com/rdk/components/camera/videosource	33%	0.00%	❌
go.viam.com/rdk/components/encoder	57%	0.00%	➖
go.viam.com/rdk/components/encoder/ams	64%	0.00%	➖
go.viam.com/rdk/components/encoder/fake	83%	0.00%	✅
go.viam.com/rdk/components/encoder/incremental	80%	0.00%	✅
go.viam.com/rdk/components/encoder/single	86%	0.00%	✅
go.viam.com/rdk/components/gantry	56%	0.00%	➖
go.viam.com/rdk/components/gantry/multiaxis	87%	0.00%	✅
go.viam.com/rdk/components/gantry/oneaxis	87%	0.00%	✅
go.viam.com/rdk/components/generic	79%	0.00%	✅
go.viam.com/rdk/components/gripper	69%	0.00%	➖
go.viam.com/rdk/components/input	88%	0.00%	✅
go.viam.com/rdk/components/input/fake	93%	0.00%	✅
go.viam.com/rdk/components/input/gpio	85%	0.00%	✅
go.viam.com/rdk/components/motor	71%	0.00%	✅
go.viam.com/rdk/components/motor/dimensionengineering	66%	0.00%	➖
go.viam.com/rdk/components/motor/dmc4000	70%	0.00%	✅
go.viam.com/rdk/components/motor/fake	55%	0.00%	➖
go.viam.com/rdk/components/motor/gpio	57%	0.00%	➖
go.viam.com/rdk/components/motor/gpiostepper	52%	0.00%	➖
go.viam.com/rdk/components/motor/tmcstepper	64%	0.00%	➖
go.viam.com/rdk/components/motor/ulnstepper	53%	0.00%	➖
go.viam.com/rdk/components/movementsensor	76%	0.00%	✅
go.viam.com/rdk/components/movementsensor/adxl345	66%	0.00%	➖
go.viam.com/rdk/components/movementsensor/cameramono	41%	0.00%	❌
go.viam.com/rdk/components/movementsensor/gpsnmea	51%	0.00%	➖
go.viam.com/rdk/components/movementsensor/gpsrtk	28%	0.00%	❌
go.viam.com/rdk/components/movementsensor/mpu6050	84%	0.00%	✅
go.viam.com/rdk/components/posetracker	71%	0.00%	✅
go.viam.com/rdk/components/sensor	52%	0.00%	➖
go.viam.com/rdk/components/sensor/ultrasonic	43%	0.00%	❌
go.viam.com/rdk/components/servo	62%	0.00%	➖
go.viam.com/rdk/components/servo/gpio	72%	0.00%	✅
go.viam.com/rdk/config	79%	0.00%	✅
go.viam.com/rdk/control	57%	0.00%	➖
go.viam.com/rdk/data	77%	-7.09%	✅
go.viam.com/rdk/examples/customresources/demos/remoteserver	0%	0.00%	❌
go.viam.com/rdk/grpc	25%	0.00%	❌
go.viam.com/rdk/internal/cloud	100%	0.00%	✅
go.viam.com/rdk/ml	67%	0.00%	➖
go.viam.com/rdk/ml/inference	71%	0.00%	✅
go.viam.com/rdk/module	76%	0.00%	✅
go.viam.com/rdk/module/modmanager	81%	0.00%	✅
go.viam.com/rdk/motionplan	70%	-0.10%	✅
go.viam.com/rdk/operation	82%	0.00%	✅
go.viam.com/rdk/pointcloud	69%	0.00%	➖
go.viam.com/rdk/protoutils	49%	0.00%	❌
go.viam.com/rdk/referenceframe	73%	0.00%	✅
go.viam.com/rdk/resource	75%	0.00%	✅
go.viam.com/rdk/rimage	78%	0.00%	✅
go.viam.com/rdk/rimage/depthadapter	94%	0.00%	✅
go.viam.com/rdk/rimage/transform	75%	0.00%	✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration	67%	0.00%	➖
go.viam.com/rdk/robot	86%	0.00%	✅
go.viam.com/rdk/robot/client	82%	0.00%	✅
go.viam.com/rdk/robot/framesystem	66%	0.00%	➖
go.viam.com/rdk/robot/impl	82%	0.00%	✅
go.viam.com/rdk/robot/packages	80%	0.00%	✅
go.viam.com/rdk/robot/server	53%	0.00%	➖
go.viam.com/rdk/robot/web	64%	0.00%	➖
go.viam.com/rdk/robot/web/stream	87%	0.00%	✅
go.viam.com/rdk/services/baseremotecontrol	50%	0.00%	➖
go.viam.com/rdk/services/baseremotecontrol/builtin	82%	0.00%	✅
go.viam.com/rdk/services/datamanager	65%	0.00%	➖
go.viam.com/rdk/services/datamanager/builtin	85%	-0.97%	✅
go.viam.com/rdk/services/datamanager/datacapture	73%	0.00%	✅
go.viam.com/rdk/services/datamanager/datasync	0%	0.00%	❌
go.viam.com/rdk/services/mlmodel	83%	0.00%	✅
go.viam.com/rdk/services/mlmodel/tflitecpu	82%	0.00%	✅
go.viam.com/rdk/services/motion	51%	0.00%	➖
go.viam.com/rdk/services/motion/builtin	88%	0.00%	✅
go.viam.com/rdk/services/navigation	53%	0.00%	➖
go.viam.com/rdk/services/sensors	81%	0.00%	✅
go.viam.com/rdk/services/sensors/builtin	95%	0.00%	✅
go.viam.com/rdk/services/shell	11%	0.00%	❌
go.viam.com/rdk/services/slam	93%	0.00%	✅
go.viam.com/rdk/services/slam/fake	90%	0.00%	✅
go.viam.com/rdk/services/vision	35%	0.00%	❌
go.viam.com/rdk/services/vision/colordetector	56%	0.00%	➖
go.viam.com/rdk/services/vision/detectionstosegments	67%	0.00%	➖
go.viam.com/rdk/services/vision/mlvision	68%	0.00%	➖
go.viam.com/rdk/services/vision/radiusclustering	59%	0.00%	➖
go.viam.com/rdk/session	97%	0.00%	✅
go.viam.com/rdk/spatialmath	84%	0.00%	✅
go.viam.com/rdk/utils	72%	0.00%	✅
go.viam.com/rdk/vision	26%	0.00%	❌
go.viam.com/rdk/vision/chess	80%	0.00%	✅
go.viam.com/rdk/vision/delaunay	87%	0.00%	✅
go.viam.com/rdk/vision/keypoints	92%	0.00%	✅
go.viam.com/rdk/vision/objectdetection	82%	0.00%	✅
go.viam.com/rdk/vision/odometry	60%	0.00%	➖
go.viam.com/rdk/vision/odometry/cmd	0%	0.00%	❌
go.viam.com/rdk/vision/segmentation	49%	0.00%	❌
go.viam.com/rdk/web/server	26%	0.00%	❌
Summary	65% (21523 / 33019)	-0.04%	➖