implemented warning on high motor_sync rates #90
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hello-binit
approved these changes
Sep 10, 2021
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This adds a warning to Pimu:trigger_motor_sync if it is called by the user above the specified rate (20hz). This is necessary as the runstop line is muxed with the motor_sync function. It can have a false positive when trigger_motor_sync is call at rates above ~28hz (P0 firmware).
If the Pimu detects that trigger_motor_sync is call too soon it will drop the push_command request.