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# Conflicts: # main/modules/module.cpp
Extract configure logic into reusable method and add configure_node_id for setting the CAN base address (node_id << 5) via setting_id 0x01. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Introduce dedicated reference drive functions that use CAN 0x0C (SingleMotorControl) with motor selection, replacing direct send_delta_angle_cmd/send_single_motor_control calls in delta arm. Add CAN byte layout comments to all send functions. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
…tection
reference("both") starts both motors at once and independently stops
each motor when its endstop is reached before completing calibration.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Subscribe to CmdID 0x14 and parse per-motor reference drive results (REF_OK, REF_OVERCURRENT, REF_END) into ref_result_m1/m2 properties. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
# Conflicts: # docs/module_reference.md # main/modules/core.cpp
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Motivation
This Pull request will implement the custom Innotronic motor driver
Implementation
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Progress