End effector embedded system plan

[Roozki]

Current Requirements: (always up for discussion!)
at least 100 Hz control rate.
position control, position feedback (Preferably velocity as well)
Agnostic to the kinematics (just an XY position, regardless of polar or corexy)
Able to distinguish between different end effectors.

Tips
DMA can reduce processing on the cpu
ESP32 may not have the best Analog-digital converter hardware but makes up for this in its speed (use Doug's filter for the load cells!)

What done looks like:

A document in the google drive with a plan for how the firmware will look like for each effector.
Additionally, restate requirements in this document.
If you can, put deadlines and a rough testing/development plan.