Moteus

* 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.

* Properly decode AksIM-2 warning and error bits
* Make MA732 trimming for off-axis applications actually work
* When encoders are no longer active, stop using them and trigger a fault
* Limit the commanded velocity to something physically achievable
* Fault if a non-reducing gear ratio is configured without overriding
* Default bemf_feedforward to 0.0, and fault if it is configured non-zero without acceleration limits or override

This requires moteus_tool from pypi of 0.3.71 or newer to flash over CAN.

New capabilities

* The ilimit can now be scaled in addition to kp and kd on a per-command basis. This allows seamlessly switching between position and velocity mode even when an integrative term is configured.
* Electrical power to (or from) the motor is now estimated and reported as `servo_stats.power_W` and register 0x007

Fixes

* Fix many problems when motor_position.output.sign == -1, including BEMF feedforward and cogging torque compensation
* Produce an error for many more malformed diagnostic mode commands, like `d pos 0 0 f1`

Compatibility

To flash this firmware, moteus_tool version 0.3.70 or newer is required.

* Support moteus-c1
* Properly detect board hardware when DC input turn-on slew is very slow

* Implement `servo.max_velocity_slip` - this can be used to ensure acceleration limits are obeyed when control is saturated in velocity mode
* Support re-capturing position and velocity while in control mode with the "recapture position and velocity" command

* Resolve an issue that resulted in fault 33 always being reported on r4.5 and earlier boards