no linear control method will work because the pwm input to current output is non-linear (sigmoid). Tapers off towards max current output. Matched sigmoid using python scipy.optimize.curve_fit and measured everything across input5. Also added a low-pass filter in case that comes in handy for current measurement. Changed the frequency output from 7.81kHz to 31.4kHz with a change in resolution from 1023 to 255. But 255 gives a resolution of around 1.41deg per unit and 9.8mA / unit so it's really not that bad

regular comms is more robust now and works relatively well. 300ms delay until next command can be input

revert and merged to most clean version. now to work on the comms. I think the issue is not sending out the len-1 byte with the data

managed to get the rs232 comms kind of working. logic needs to be cleaned up and the protocol needs to be cleaned up too

after adding the capacitor 1uF between Vmot_out and GND, the original control equation worked better. also fixed impedance control math errors

moving away from admittance and going to impedance control. added pid, discrete control design and open loop ramp rate. Eliminated a lot of dev fluff

created a control and admittance discrete transfer function with coefficients designed for a rise time of 0.6s

Added a number of new classes and changes. The pwm for pins 11 and 12 have a 10-bit res option with no prescale divider for the clock. The config file contains the plant transfer functions. Implemented the feedforward plant driver along with the PD controller and plant with switching modes between current measuring and motor driving.

added i2c and averaging for the current sensor. attempted to work the stepper motor but the driver fried. Broke likely due to regular connection and disconnection of the motor while still powered on.

Added i2c for current sense (note only works if wired via power supply, accelerometer to angle conversions implemented. For motor, measure via the y axis, minor reconfiguring of libraries. Note that PING is used elsewhere in other libraries. Might be better to call it 'COMPING' or 'SERPING'