Driving the motors is done by dedicated micro-controllers, at least in the systems I work with. Simple ones take velocities and perform PID control, better ones do Model-Predictive Control (MPC). Often, IMUs are also often directly attached, as they are cheap enough for a while now to be just integrated on the board. Of course, for MPC and for IMU integration some configuration is necessary, but not a lot. I'm not sure what role MachineKit would play in such a setup. Would you use MachineKit to generate the software running on the micro-controller? --- [Visit Topic](https://discourse.ros.org/t/why-dont-we-use-ros/3161/16) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: