For some time now the moteus python library has had a convenience function to repeatedly execute a command until moteus determines that the trajectory has completed. This helps a lot with simple applications with a single device, but as soon as multiple controllers are involved in the same machine numerous problems appear:

Watchdog timeout: moteus has a watchdog timeout and unless all devices are sent commands on a regular basis, they will fault. This is easy to do with set_position_wait_complete, which by definition only sends commands to a single device.

The new features and capababilities for moteus just keep coming! Here is another relatively straightforward one available in firmware release 2026-01-21, support for PWM (pulse-width-modulated) inputs. If an appropriate pin is configured, moteus can report the period and duty cycle of a PWM input to applications. This can be used to monitor the fan RPM for the moteus cooling fans on moteus-c1, moteus-n1, or moteus-x1, or could be used to read the value of a RC receiver output. Read on to learn how to use it and what the limitations are:

I’d like to announce more encoder support in moteus, this time for BiSS-C encoders in unidirectional mode. BiSS-C is a protocol often used in higher end industrial encoders that uses a RS-422 wire level signaling scheme. This support works out of the box for moteus-n1 and moteus-x1 which have a RS-422 connector already included. All you need is to have firmware 2026-01-21 or newer installed and to follow the documentation for upgrading.

If you want to see a specific configuration example, or read about how the feature was implemented, read on!