Remora for RP2040

I don't know the units, but 0.5mm f-error would be very high, and 0.5 inches would be crazy.

I suspect that you have a problem in the HAL file, maybe there just isn't time to make as many steps as you need per second?

Been trying to find the cause of the following errors for a couple of days now and still no luck.  Have reduced the velocity, accels and scale dramatically but still the following errors persist.

Commanded position and feedback track fairly closely, but following error is accumulating.

 Here is a better capture of what we're seeing. 

Increasing the pgain for each axis to 100 definitely helps.

However, something strange with "random" steps in the position command. Are you seeing this as well?
 

Yes. Last night before calling it quits for the day, I got the debug output going and I can see that the following errors are correlated with RX failures (RX reset, so no data received).

It really looks to me like somewhere in the pipeline there is some packet loss.

Maybe not, as a RX reset is normal behaviour when e-stoped. For the controller board to disconnect by action of the communications monitoring module, multiple successive packets would need to be lost.

github.com/scottalford75/Remora-RP2040-W.../RemoraComms.cpp#L23