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?
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