New open source high end closed loop driver klipper compatible

[cardoc]

Very very cool. Is anyone working on improving the driver software you linked?

You should also post in this thread.

Fast closed-loop controllers on the MCU?

IMO the way to do closed loop in klipper is to modify stepcompress to output encoder positions at the position loop’s constant update rate instead of step positions at a time varying rate. Then each MCU is responsible for maintaining a bound on basically the I term of the position loop PID and throwing a shutdown or “motion stop” trsync signal if that bound ever fails. So high level planning and kins and everything change minimally, and as long as your system has enough stiffness to not bounce …