The motion code has some rough edges, especially as we've added features like parameter updates. Things that should be cleaned up:
[ ] matrices should have names not mathematical letters/syms
[ ] there should be a clear delineation between hardware and control models
[ ] PID module needs to be refactored into a single state module, not a parametric type. This has implications for matrix slicing when parameters are updated, and currently makes the code pretty ugly
[ ] parameter updates should be dispatched hierarchically using some form of trait for updates. This will make pieces interchangeable.
[ ] Modules should have prints at correct logging granularity and crate level logging should be error or off by default
The motion code has some rough edges, especially as we've added features like parameter updates. Things that should be cleaned up: