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MotorBridge 0.4.7 Release Test Note

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Summary

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Version Alignment

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Key Changes

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Fixed

• Hardened Damiao ensure_control_mode() so mode switching stays within one shared timeout budget instead of serially reusing the full timeout across every internal step. Reduces ensure_mode timeouts on slower joints/adapters.
• Improved Damiao mode-switch preparation and verification by reusing the hold position read, validating register writes through write ACKs, and making parameter persistence behave more reliably on real hardware.
• Raised the dm-serial transport timeout from 1 ms to 10 ms to reduce cross-platform serial write failures under tighter adapter/driver timing.

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See Also

• Changelog