v0.4 – Pololu Maestro protocols, travel limits, stored settings

Pololu Maestro compatible. The board now speaks the Maestro serial protocols (Compact, Pololu, Mini SSC), so Maestro libraries – Python maestro.py, ROS drivers and others – work unchanged: point them at the board's serial port. Pololu's Maestro Control Center is not supported (it only talks to Pololu's own USB IDs).

New in 0.4

• Maestro commands: set target(s), speed, acceleration, get position / moving state / errors, go home – with speed and acceleration ramps running on the board
• Per-channel travel limits, 64–4080 µs (default 500–2500), set with R or the GUI's gear button
• 0.5 µs output resolution
• Settings stored on the board with W (limits and Maestro start-up speed/acceleration); they survive power-off and firmware updates. W D restores defaults.
• The ASCII protocol, GUI, scripts and MCP server work as before

Files

• USBServoController-ch32.bin – application. Update a board with the GUI's Firmware tab or python tools/flash.py; your stored script and settings are kept.
• USBServoController-ch32-full.bin – bootloader + application, for a blank chip or recovery (JP2 + wchisp)
• ServoGUI-windows-x64.zip, ServoGUI-linux-x64.tar.gz – desktop GUI, includes firmware 0.4

Documentation: USER.md §3.7 (Maestro software) and §4.3b (Maestro protocol reference).