- Many changes were made to make encoder compensation work better for hard configurations, such as with off axis MA732/MA702/MA600 magnetic encoders.
- Upgrade encoder compensation to 256 bins from 32
- Upgrade the compensation script to support both an inertial mode and a reference mode, improve plots
- Commutation compensation now linearly interpolates between bins, which further helps off-axis encoders
- As a side effect, compensation tables can now be invalid if too steep, resulting in an error
- Support the MA600 SPI magnetic encoder
- Implement PWM output for aux ports - all pins previously marked as hardware quadrature capable can now be used as PWM output
- Expose the UUID over the register protocol, allow individual commands to be scoped to a UUID prefix. In the future, this could be used with the multiplex broadcast address to discover devices.
- The motor thermistor resistance now defaults to 10k and is configurable
moteus_tool from pypi version 0.3.73 or newer is required to flash this firmware.