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Consolidate documentation dependencies into the top-level requirements.txt and remove docs/requirements.txt. Update README and docs/installation instructions to reference the new location and adjust the GitHub Actions workflow to stop installing the removed file. Also include small MotionController cleanups: add an explicit type annotation for self.c, simplify debug/log formatting and expressions, and tidy speed/heading calculations for readability.
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Consolidate documentation dependencies into the top-level requirements.txt and remove docs/requirements.txt. Update README and docs/installation instructions to reference the new location and adjust the GitHub Actions workflow to stop installing the removed file. Also include small MotionController cleanups: add an explicit type annotation for self.c, simplify debug/log formatting and expressions, and tidy speed/heading calculations for readability.