⚡ Feature Request

measure input voltage and current with the INA226.
Maybe also power and consumed energy since start of the system.

⚡ Feature Request

add quad encoder support

🐛 Bug Report

As can be seen i.e. here: https://github.com/107-systems/CyphalRobotController07-CAN-firmware/blob/main/CyphalRobotController07-CAN-firmware.ino#L213C102-L213C102

How-to-fix-this:

-const auto reg_ro_cyphal_pub_input_voltage_type             = node_registry->route ("cyphal.pub.inputvoltage.type",             {true}, []() { return "cyphal.primitive.scalar.Real32.1.0"; });
+const auto reg_ro_cyphal_pub_input_voltage_type             = node_registry->route ("cyphal.pub.inputvoltage.type",             {true}, []() { return "uavcan.primitive.scalar.Real32.1.0"; });

However, this bugs concerns all .type register entries and needs to be fixed everywhere.

⚡ Feature Request

add some kind of motor control

⚡ Feature Request

add support for the neopixels

⚡ Feature Request

Both motors should automatically stop if no set-point message has been received within one second (or less, maybe 500 milliseconds).

For a reference how this could be implemented please take a look at https://github.com/107-systems/CyphalServoController12-CAN-firmware/blob/main/CyphalServoController12-CAN-firmware.ino#L434-L437 .

⚡ Feature Request

store default value for output in eeprom. configurable via cyphal.

⚡ Feature Request

add functions to support the onboard IMU Bosch BNO055 or BNO086.