New to develop branch: December 2025, Serial Bus Servo, Xbox Controller Support, Improved Architecture

[danic85]

The latest changes to develop introduce significant improvements to the modular biped system, focusing on bus servo management, controller input handling, and system loop architecture. The changes lay the groundwork for more sophisticated robot control.

Key Changes
New System Loop Architecture:
Refactored the main loop into a dedicated SystemLoop class with state management (running/throttled/sleeping) and improved resource management.
This includes control from both the motion sensor and temperature monitor, so the system can be throttled, put to sleep or even exit entirely if the temperature becomes too high, or if no one is present after set timeouts.
Read More about System Loop

Xbox Controller Support:
Added comprehensive Xbox controller input handling with configurable button/axis mappings and a handler for converting inputs to robot actions
Explore Xbox Controller and Handler Mappings

Bus Servo Management: Implemented support for ST and SC series bus servos with calibration, position control, and SDK integration
Implement Bus Servos

Check out the full Pull Request