- Properly decode AksIM-2 warning and error bits
- Make MA732 trimming for off-axis applications actually work
- When encoders are no longer active, stop using them and trigger a fault
- Limit the commanded velocity to something physically achievable
- Fault if a non-reducing gear ratio is configured without overriding
- Default bemf_feedforward to 0.0, and fault if it is configured non-zero without acceleration limits or override
This requires moteus_tool from pypi of 0.3.71 or newer to flash over CAN.