Avoid blocking and lost updates in shared CAN commands - #96
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Snapshot commands before synchronous CAN I/O. Update selected motor velocities atomically so concurrent base and rail commands do not overwrite each other.
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CAN reads hold the command lock while waiting for feedback, blocking command updates. Concurrent base and rail updates can also overwrite each other in the shared command list.
Snapshot commands before CAN I/O and update selected motor velocities atomically. Read passive-encoder feedback outside its snapshot lock.