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Add tool board firmware that speaks the MKS drive frames - #32

Merged

yassinsolim merged 57 commits into

mainfrom

feature/tool-board-firmware

Oct 10, 2026

Commits on Sep 26, 2026
Commits on Oct 3, 2026
- Fix the interlock, homing, roll ramp and drive limits from review
  yassinsolim
  committed
  e5cb20a
- Add simulated Xbox teleop for the arm
  yassinsolim
  committed
  b285c1c
- Drive the real MKS drives over CAN, with zeroing
  yassinsolim
  committed
  7fd6c02
- Add tool board firmware that speaks the MKS drive frames
  yassinsolim
  committed
  55d6e35
- Confirm drive setup and retry refused targets
  yassinsolim
  committed
  ed3a393
- Test the tool board's motor logic and honour the stop ramp
  yassinsolim
  committed
  49aa7b3
- Quote the kernel module package in the vcan job
  yassinsolim
  committed
  d91e4cd
- Press Start only once teleop is ready in the launch test
  yassinsolim
  committed
  0b9a73d
- Press Start only once teleop is ready in the launch tests
  yassinsolim
  committed
  a71d76b
- Fix the drive findings from the #28 review
  yassinsolim
  committed
  e26dee1
- Hold the arm when a new robot description replaces teleop
  yassinsolim
  committed
  d811a6c
Commits on Oct 8, 2026
- Stop the drives when commands stop, whatever speed they carried
  scratch
  committed
  21acf5f
- Take the whole int24 axis range and give the heartbeat the whole pause
  scratch
  committed
  83fa4cc
- merge xbox main path: retain Cartesian limits and heartbeat
  yassinsolim
  committed
  17494c1
- merge Cartesian main path into drive watchdog
  yassinsolim
  committed
  87fd0ae
Commits on Oct 9, 2026
Commits on Oct 10, 2026