Rewrote all firmware; Fixing Servo Cover and a ton of other CAD; Almost fried everything

For the CAD, it doesn’t look like much changed, but I’ve basically redesigned a bunch of things and fixed tolerances and now it should move really smoothly. With the bearings added, everything moves incredibly smoothly now

Especially the servo cover was annoying. I needed to attach a magnet to the shaft which was really annoying.

I haven’t logged that well, I’ve done more like 15 hours of work instead of just 5 but whatever

Most of those hours was the painful debugging. RS-485 busses, JSON not communcating with the PC, dropped connections, corrupted data, disconnected jumpers, FTDI programmer becoming flaky for some reason

It’s just been pain :(((

Now the PC (screenshot) recieves all the data and sends all the data
You can see a lot (not all) of the telemetry being received. Ignore the volts though my math is wrong. Realtime connecting now works smoothly, as you can see the other RS485 servos are offline.