2023-09-26

• Fault if a stop position is commanded along with velocity or acceleration limits. This never did anything useful, but was often accidentally commanded when using old videos that recommend stop position along with new firmware that has acceleration or velocity limits configured.
• Support CUI AMT21 series RS485 encoders. These can be directly connected to the RS422 port on the moteus-n1, and can be connected to moteus-r4 with an adapter circuit similar to that needed for the AksIM-2.
• Support MA732 SPI encoders on any SPI capable auxiliary port.
• Fix stay within mode when velocity or acceleration limits are enabled. If either were enabled, then the commanded limits were not obeyed.
• Define "target velocity == NaN" to mean "target_velocity == 0.0". Previously NaN here was undefined behavior, and would result in the controller becoming non-functional. Most (maybe all) users who commanded NaN actually wanted to be commanding 0.0 anyways.
• "Index" inputs on auxiliary ports are now handled using an interrupt instead of polling at the control rate. This decreases the minimum required index pulse width from 1/PWM_RATE (~33us for a typical 30kHz pwm rate) to ~1us.