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Keep watching the free partsSensors · 11a
Encoders 1: how one frame becomes an angle (Tamagawa)
Follow one 6-byte Tamagawa reply through 9 stops: the request, DMA into rx_buff, the copy into data_raw one tick later (and how late that is), the XOR check and status byte, assembling the count, single_cnt, through the BSP, count to electrical angle, and the lead compensation in the current loop. Every stop is servohub source with line numbers.