[Release v1.2.1]#55
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Mirror of dev/JH_i2rt-main into the public repo. Ships USB-GPIO converter support for the linear-rail brake + limit switches on x86/non-Pi hosts (ROB-1464). Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com>
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Summary
Release v1.2.1 — mirror of
dev/JH_i2rt-maininto the public repo. Ships USB-GPIO converter support (ROB-1464) for driving the linear-rail brake + limit switches on x86 / non-Pi hosts, plus relatedflow_baseupdates. The synced tree is byte-identical to dev (git-ignored files excluded).Changes
pyproject.toml: addedpyserial>=3.5dependency for the USB-to-GPIO converter on x86/non-Pi hostsi2rt/utils/usb_gpio_driver.py: new USB-GPIO converter driver for the linear-rail brake + limit switchesi2rt/utils/tests/test_usb_gpio_driver.py: new unit tests for the USB-GPIO driveri2rt/utils/tests/conftest.py: new pytest fixtures/config for the USB-GPIO driver testsi2rt/flow_base/linear_rail_controller.py: wired linear-rail control to the USB-GPIO converter pathi2rt/flow_base/flow_base_controller.py: flow-base controller updates accompanying the USB-GPIO supporti2rt/flow_base/README.md: documented the USB-GPIO converter wiring/usagei2rt/flow_base/assets/usb-gpio.jpg: new wiring reference image for the USB-GPIO converterTest Plan
uv sync --all-packagesin a fresh checkout succeeds (pulls inpyserial>=3.5)python -c "import i2rt"imports cleanlypython -m pytest i2rt/utils/tests/test_usb_gpio_driver.pypassesexamples/control_with_mujoco/control_with_mujoco.py) and confirm it launches🤖 Generated with Claude Code