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Hardware Interface upgrades and fixes - #41
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IshanDutta11
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Feb 4, 2026
IshanDutta11
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- Added improved logger functionality for RMD, SMC, Talon, and Servo HWIs
- Fixed Talon command switching issue
- Added an update rate for RMD, SMC, Talon, and Servo HWIs to control rate of can frame flow in bus
- General cleanup and better practice
…ement servo functionality for the arm
a-cires
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Feb 4, 2026
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Lots of great improvements here!
mdurrani808
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to mdurrani808/athena-code
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Feb 10, 2026
* added update rate to rmd/smc, cleaned up rmd/smc, first draft servo hwi * working drive setup setup * populating servo hwi 1st draft * some progress on stepper hardware interface * finalized initial servo hwi fixes, adjusted manual controller to implement servo functionality for the arm * completed first draft of servo hwi, ready to test * talon hwi fixes that account for joint type (revolute or prismatic), needs testing * add a logger function in all hwis * fixed bug in controller and further improved hwis * talon fixes --------- Co-authored-by: duttaishan01 <duttaishan01@FIGARO.myguest.virtualbox.org>
a-cires
pushed a commit
to a-cires/athena-code
that referenced
this pull request
Apr 13, 2026
* added update rate to rmd/smc, cleaned up rmd/smc, first draft servo hwi * working drive setup setup * populating servo hwi 1st draft * some progress on stepper hardware interface * finalized initial servo hwi fixes, adjusted manual controller to implement servo functionality for the arm * completed first draft of servo hwi, ready to test * talon hwi fixes that account for joint type (revolute or prismatic), needs testing * add a logger function in all hwis * fixed bug in controller and further improved hwis * talon fixes --------- Co-authored-by: duttaishan01 <duttaishan01@FIGARO.myguest.virtualbox.org>
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