So the main purpose of the MPU is to send out a motor torque to the motor controller. We need a task that will take in the values calculated in #52 and convert it to a motor torque. Splitting this into its own task will allow us to send out this message at a certain frequency.
So the main purpose of the MPU is to send out a motor torque to the motor controller. We need a task that will take in the values calculated in #52 and convert it to a motor torque. Splitting this into its own task will allow us to send out this message at a certain frequency.