More like high level motion controller, so 'servo 23 1700 us' or for better grade servos 'servo 23 pos 145400', possibly concurrent with motion commands to other actuators and possibly synchronized, possibly using other kinds of protocols (G-codes).
replyMotion controllers are pretty impressive these days. PWM generation is too time critical to leave to high level processors, usually this is done in hardware if you want it to be guaranteed glitch free but there are also 'bit banging' servo controllers out there.
Interesting, so how does the inference work here? are they aiming for a fixed length intervals like 10 times/second generating the positions or is it more like reactive, i.e when the request to hold a cup from a higher level comes then this is treated as a promt, the sensors are the context and when the inference finished the pulses are sent according to the output?
reply