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step 7/8: Dynamixelドライバ制御ループを高速化#370

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meganetaaan wants to merge 26 commits intostep-pr/06-chat-light-ledfrom
step-pr/07-dynamixel-driver-speedup
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step 7/8: Dynamixelドライバ制御ループを高速化#370
meganetaaan wants to merge 26 commits intostep-pr/06-chat-light-ledfrom
step-pr/07-dynamixel-driver-speedup

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@meganetaaan
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Summary

  • Dynamixel packet handlingを最適化し、割り当て/コピーと待機を削減
  • command queue化とレスポンス待ち制御で制御ループ遅延を低減
  • chat利用時にfeedback loopを切り替えられるようにし、負荷を調整

Stacked Base

  • base branch: step-pr/06-chat-light-led

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coderabbitai Bot commented Mar 5, 2026

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@meganetaaan meganetaaan force-pushed the step-pr/06-chat-light-led branch from 8e013ee to 1ba1213 Compare March 11, 2026 23:35
# Conflicts:
#	firmware/chat.md
#	firmware/mods/chat_audioio/mod.js
#	firmware/stackchan/manifest_local.json
#	firmware/stackchan/renderers-piu/behaviors/face.ts
#	firmware/stackchan/renderers-piu/face-view.ts
#	firmware/stackchan/services/chat.ts
#	firmware/tests/chats/chat-service/main.ts
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