Running ServoHub on a Mac: SIL simulation

Run ServoHub’s real control code on a computer with no driver board: how the virtual BSP replaces the hardware, the 1 ms rhythm of 20 current loops + 10 position loops + one 1 ms task, the virtual motor model, and load steps with sil_headless + plot.py that find the limit set by the current clamp and the 0x4040 trip.