13 lines
250 B
Markdown
13 lines
250 B
Markdown
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# Firmware
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Teensy 4.x firmware owns the fast loop:
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- sensor acquisition;
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- force PID;
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- command output;
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- fast safety/interlocks;
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- host heartbeat supervision;
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- telemetry/event emission.
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Use `firmware/teensy/` as the first implementation target.
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