2021-03-05

• Support a new configurable option, servo.max_position_slip, which is effectively an anti-windup limiter for the position control loop.

2021-01-14

• Fix the sign of the velocity voltage feedforward term: Note, this will result in possibly unstable behavior with the previous default config values. Use a moteus_tool 0.3.7 or newer to automatically update the configuration
• Temperature is now filtered, which should reduce instances of spurious faults
• All diagnostic commands now prefix errors with the "ERR" string