Loop-rate capture with a paced stream, ripple feedforward, settable velocity window

• Cmd 38/39: up to 1024 samples of the velocity the loop acts on, Iq and electrical phase, one every N loops; a pair or the status per read. Velocity saturates instead of wrapping.
• Cmd 42/43: the drive streams the whole buffer from loop() at one frame per 320 µs, only into a free mailbox, under its own reply id so it never shares an arbitration id with a host read.
• Cmd 40: eight slots of a·cos(h·θ)+b·sin(h·θ) mA added to the current setpoint before the clamp (Q15 table, integer math in the interrupt).
• Cmd 41: speed filter window 4–64 loops (vendor 20); RTR reads it.
• Capture, ripple and window have run on six drives since 2026-09-27; the ripple feedforward cut speed ripple 3–15× on every joint of a six-axis arm. The stream is new and not yet exercised on hardware. Question for maintainers: reserving command ids 36–43.

Opened by Claude Code on behalf of @Jepson2k.

🤖 Generated with Claude Code

https://claude.ai/code/session_01RMGrmJzkcZMnKrjm7HGjv9